Millen was put in charge for the clash at Loftus Road following Neil Warnock's sacking on Saturday and the team responded with a committed and hard-working display against Harry Redknapp's side.
Chairman Steve Parish overlooked Millen after Tony Pulis walked out at the start of the season but the 48-year-old has again expressed his desire to be permanent manager at Selhurst Park.
"I'm ready for it," Millen said.
"I think the players respect me
I've done it enough times, I've managed before and I enjoy working for the club.
"The chairman may feel he needs more experience or wants to see what names are available because it's a vital time now."
Millen continued: "It's about respect
I respect the players and what they're about and hopefully they respect me for my knowledge and hard work with them.
"You do have to detach yourself from the players as a manager but also, with Premier League players, you have to make sure they understand what you want from them.
"They're big characters at this level and you have to get the best out of them.
"There's respect there between myself and them, I've worked with them for two and a half years and we've been successful."
Millen was left in charge for four league matches last season as the club took a month to decide Pulis was the right man to replace Ian Holloway.
Parish has admitted he has nobody lined up to take over immediately and Millen is prepared for another extended period at the helm.
"I don't know how long I'll be in charge for," Millen said.
"I have not been told I've got a chance and I haven't spoken to the chairman about myself.
"He came to the players today and wished them all the best but that is not a conversation to have on the day of a game.
"I'm sure I'll speak to him tomorrow, he knows what direction he wants to take the club and what I bring to this group of players.
"I've worked with them for two years now and I do know what makes them tick and what brings the best out of them.
"It's down to the chairman to make that decision
He has the confidence in me to continue taking the team until he makes the right appointment."
After the defeat to Southampton on Boxing Day, Warnock revealed the club had made bids for three strikers and Millen says Palace's transfer targets have not changed.
"I've been involved in those discussions and I think the chairman knows what we need," Millen added.
Palace, who have dropped into the bottom three, were good value for their draw against QPR and came closest to breaking the deadlock when Jason Puncheon's first-half shot struck the post.
Redknapp admitted it was a "fair result" and believes the game demonstrates his need for more fire-power in the January transfer window.
"You need four strikers, you need to be able to change the game, bring on some pace, get behind people," Redknapp said.
"We can't, I haven't got anyone to freshen it up
I've got Bobby (Zamora) and Charlie (Austin) - (Eduardo) Vargas looks happier out on the right."
Redknapp added: "The trouble is where are you going to find a striker on loan?
"People will come up with names and they'll be useless - 'Harry what about him?' Good luck.
"We lost Loic Remy on the deadline (in the summer) and that really cost us.
"If I had Remy here he'd have eight to 10 goals by now
Perhaps they'll loan him back - he's not getting a game at Chelsea - but I don't think they will."
Source : PA
Source: PA