Mill Bay is located on the eastern side of the Kingsbridge Estuary, just south of East Portlemouth and directly opposite Salcombe. It forms one of several beaches along this sheltered stretch of coastline and is often accessed by foot or by ferry from Salcombe. The beach has a quiet and relatively undeveloped character, with open countryside behind it and limited nearby buildings.
The beach is mainly sandy, with fine sand exposed at lower tide levels and some areas of shingle and rock near the edges. It is moderately sized compared to neighbouring coves, though its usable area varies with the tide. The shoreline slopes gently, and the water is typically calm due to the sheltered estuary setting. The surrounding landscape includes grassy slopes, low cliffs and scattered trees. Mill Bay is known for its accessible sandy area and views across the water to Salcombe.
Access is via footpaths from East Portlemouth, with parking available in the village followed by a short walk. A passenger ferry from Salcombe provides a practical alternative, dropping visitors nearby with minimal walking required. There are limited facilities in the immediate area, though a seasonal café is sometimes available near the beach. Additional services can be found in Salcombe. The terrain is generally easy to navigate, with no steep gradients along the main access routes.
Mill Bay is suitable for families, swimming, paddling and low-impact water activities such as kayaking. The calm conditions make it more appropriate for these uses than for surfing. The beach is most usable at mid to low tide when more sand is exposed, as high tide reduces the available space. It can be visited throughout the year, with summer offering the most favourable conditions. The combination of sheltered water and relatively easy access makes it one of the more practical beaches on this side of the estuary.