After 33 years with the department, 13 as chief, the usually reserved chief, was escorted into retirement by his wife and two daughters for his final salute with his officers.
Also on hand were Supervisor Howard Phillips and members of the town board to offer remarks and congratulate the Chief on all of his accomplishments.
"It has been an honor to work under the direction of Chief Miller and we wish him a long and healthy retirement," the department said.
Miller started his career at the time of the 1981 Brinks robbery-murders of two police officers and ended it still searching for murder suspect Eugene Palmer.
In between, he saw great changes and modernization come to law enforcement including bulletproof vests, advanced weapons, computers and safer vehicles.
He told lohud.com that when he started officers used balky radios that were undependable and bought their own vests. He also was paid $12,000 a year when he started, a small amount compared to his retirement income of $210,000 a year.
The chief now plans to purchase a vacation home in Cape Cod and enjoy life with his family.
The Haverstraw Town Board named Lieutenant Peter Murphy as the new chief.
Click here to read the lohud.com story.
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