Channel 4's recording of her 2011 Chatterbox stand-up show was seen by an average of 1.17m (a 4.9% share) in the 9pm hour, as well as 209,000 on +1.
The comedienne achieved double the audience that tuned in for the conclusion of Derren Brown's Fear and Faith last week.
After Millican, Alan Carr: Chatty Man also drew 1.17m, but scored a superior share of 6% as the programme ended at 11.15pm.
BBC One's struggling sitcom Me and Mrs Jones, about the romantic escapades of a single mother, concluded with 1.72m (7.3%) at 9.30pm.
Facing I'm a Celebrity... Get Me Out of Here! for the first time, Have I Got News For You preceded the comedy with a series low of 4.05m (16.6%).
Linda Robson's I'm a Celeb exit was witnessed by 8.65m (36.8%) between 9pm and 10.30pm, adding 291k on timeshift. I'm a Celebrity... Get Me Out of Here! NOW! followed with 630k (4.1%) on ITV2.
Over on BBC Two, Mastermind continued to impress with 2.39m (10.4%) in the 8pm slot and An Island Parish followed with 2.08m (8.9%) at 8.30pm.
The channel's tribute series to David Attenborough - 60 Years in the Wild - continued with 2.07m (8.6%), before QI educated 1.88m (8.4%) at 10pm.
Meanwhile, The Mentalist topped Channel 5's night with 1.14m (4.7%) at 9pm.
As expected, ITV1 dominated primetime with 30.9% (+1: 0.8%), easily seeing off the challenge from BBC One (16.8%). BBC Two strolled into third place with 8.1%, ahead of Channel 4's 4.2% (+1: 0.7%), and Channel 5's 3% (+1: 0.2%).
Elsewhere, an old episode of Doc Martin was the most-watched multichannel offering with 900k (3.8%) for ITV3 in the 9pm hour.
BARB ratings data supplied by Attentional