After just 22 games, the club had parted company with their boss.
The Cumbrians have had two managerial departures this season after Millen took over from Chris Beech.
Millen's side had only accrued three points from their past eight matches.
The first-team training will be taken over by the assistant boss.
Everyone at the club would like to say a big thank you to the man for his work and efforts since he joined us at the end of October, and we wish him the best as he leaves the club.
Mark Howard said in an interview that former Crystal Palace boss Millen had full support among the squad despite the dip in form.
The players are behind the boss. Howard told the radio station that he had been superb for them.
The public and fans will not see what he is doing behind the scenes to make the club better.
We are letting him down a bit. That is something we are trying to put right for him.
They are the opposition on Saturday.
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