The world number 55, Millman, created a stunning upset at the Flushing Meadows, when he sent the 37-year-old Swiss - a five-time US Open champion packing at 3-6, 7-5, 7-6 (9-7) 7-6, (7-3).
Millman - the only unseeded player left in the last eight of the men's draw - will play two-time champion Novak Djokovic in his first Grand Slam quarter-final on Wednesday, September 5.
Brisbane-born admitted to feeling "a bit guilty" after beating Federer, who he described as his "hero".
"I always was of the opinion that I was in the fourth round for a reason. I've never played anyone's reputation," said Millman.
"I felt a little bit guilty today because he didn't have his best day, and that's for sure.
"I have so much respect for him, what he's done for the game."
Millman lost in straight sets to Djokovic at Queen's in June, but said he has "the belief" he can defeat the Serb in New York on Wednesday, September 5
"I'll have to improve a lot on the last time I played him. He's an incredible player. I think he's in some really good form right now, too," he said.
"But why not? I think it's a disservice to who I am if I go out there and don't have that belief."
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Caption: Millman savours a point during the epic clash with Federer at Flushing Meadow.
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