Drummer born and raised in Fort Worth, Texas. He is the son of guitarist Dave Millsap.

An offer in the spring of 2012 brought Richard to Austin, Texas to join Bobby Whitlock and his band for a local residency, as well as a headlining spot at the Indigo & Blues Festival in Bangalore, India. Shortly thereafter, he joined already-established Austin band, The Band of Heathens, touring nationally and internationally. He is currently playing drums for John Fogerty of Creedence Clearwater Revival.