Dimitrov was on court for nearly two-and-a-half hours before finally subduing the British number two, who was right in the contest until he hurt his ankle with the score at 4-4 in the third set. Dimitrov hurdled over the net to help and then offered him assistance in getting to the side.
Millman, ranked No. 128, raised a exhausted grin for supportive home fans at Pat Rafter Arena, who has gamely fought back from two career-threatening injuries.
Grigor Dimitrov's epic display of sportsmanship at Brisbane International
"At the end of the day, it's health above all", Dimitrov said.
Earlier Friday, Kyrgios had his left knee heavily taped but didn't appear to be hampered as he worked his way into the match after dropping the first set in 22 minutes. It was very unfortunate what happened, for sure.
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"I only know kind of the initial feelings of it, which is not always so trustworthy, " she said of the injury. It's just tough when you come up against the top seed (Dimitrov) and I would love to win one of those really big ones.
Harrison had been due to face Andy Murray in the second round but after avoiding the Scot, who withdrew from both Brisbane and the Australian Open with his ongoing hip injury, and will now get a shot of reaching the final.
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"I feel like I'm playing good enough tennis to go deep into ATP-250 tournaments like Brisbane and Sydney". That's just me, I guess.
Kyrgios was joined in the last four by fellow Australian Alex De Minaur as the teenager followed up his win over Milos Raonic by beating American qualifier Michael Mmoh 6-4 6-0.
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Dimitrov will face Australia's Nick Kyrgios in the semi-final after he overcame Ukraine's Alexandr Dolgopolov 1-6 6-3 6-4. The 18-year-old De Minaur will play Ryan Harrison, who led 7-6 (6), 4-2 when Denis Istomin retired from their quarterfinal match with a hip strain.