The town museum occupies the Hôtel de Pégayrolles, an eighteenth-century mansion on the Place Foch. Two collections stand out: the Roman pottery from La Graufesenque, including stacks of red-slip Samian ware and the moulds used to make them, and the leather-glove gallery, which traces the local trade from the late nineteenth century when Millau gloves dressed the hands of half of Paris.
A separate palaeontology section displays a partial plesiosaur skeleton found in nearby limestone. The museum is small and easily seen in an hour. Open most days except Tuesdays in winter; admission a few euros.