Robert Clois Millsap, age 73, of McKinney, Texas, passed away March 31, 2018.  Robert was born July 16, 1944, in Baytown, Texas, to Robert Ralph and Dorothy Kay (Sullens) Millsap.  He grew up in Dallas, Texas.  Robert proudly served his country in the United States Air Force.  Robert had many interests and hobbies through the years, including drag strip racing, building and playing with dune buggies, riding 4-wheelers, woodworking, gardening and camping.  He spent his career building roads and highways in the Dallas area.

Robert and Regena were sealed for time and all eternity on April 17, 1998 in the Dallas Temple.

He is survived by his wife, Regena Millsap of McKinney, Texas; son, Robert Glenn Millsap of Lewisville, Texas; daughters, Cari Louise Taylor and husband, Jim of Denison, Texas and Eva Ruth Johonnesson and husband, Jason of Rowlett, Texas; grandchildren, Parker Millsap, Bailey Buchanan, RJ Buchanan, Dylan Davis, and Dalton Johonnesson; sister, Julie Jones of McKinney, Texas; and brother, Glenn Millsap of Allen, Texas.

He was preceded in death by his parents, and son, Joseph O'Neal Millsap.

A funeral service will be held at 10:00 a.m., Wednesday, April 4, 2018, at the Church of Jesus Christ of Latter-day Saints in Fairview, Texas. Interment with military honors will follow at 4 p.m. on Wednesday in Youngblood Cemetery in Beckville, Texas under the direction of Jimerson-Lipsey Funeral Home.  The family will receive friends during a visitation from 6:00 – 8:00 p.m., Tuesday evening at Turrentine-Jackson-Morrow Funeral Home in Allen, Texas.

Local arrangements are under the direction of Jimerson-Lipsey Funeral Home.