Philip Randall Millward was born on 31 October 1925, the son of Albert Millward, a holloware (tableware) turner, and Jessie Millward. At the time the 1939 Register for Stourport on Severn, Worcestershire, Philip was listed as a scholar and his father Albert as full time air raid warden.

It is not known when he joined the Royal Navy or when he became a submariner but in August 1946 he was serving in HMS TUDOR. TUDOR was at Devonport on 3 August 1946 and was moored alongside the destroyer HMS CONSORT when he was reported to be missing. He had been on shore leave and had told friends he was returning to the submarine and was last seen by a sentry on HMS CONSORT. His body was recovered from the Hamoaze on 12 August after being spotted by a local councillor. At the subsequent inquest it was assessed that he had fallen into the water when crossing the gangway from HMS CONSORT to HMS TUDOR and a verdict of accidental death was recorded.

His death is recorded in the Navy BMD Records as being attached to HMS PEMBROKE – the Royal Navy Barracks at Chatham. He left a widowed mother and is buried in the Churchyard of St Michael and All Angels at Stourport on Severn in Plot 17.0019