Millbrook Meadow is a seaside meadow accessible from King and Beach Streets and Mill Lane. From King Street you can cross the new Mill Dam and enter the Meadow, or use a stone stairway directly down to the Meadow. The stairway is a memorial to the quarry workers of Cape Ann. There is a small Welcoming Garden at the Beach Street entrance, which is right next to Front Beach.

The Mill Brook courses through the Meadow on its way from the Mill Pond, flowing through the Frog Pond and under First Settlers' Bridge, on its way to its outlet at the northern end of Front Beach.

The design for the Meadow focuses on the central open space and includes an area set aside for play equipment for children. In addition to the play equipment, the Meadow provides play spaces using natural materials and native plantings, such as the mooring stone and the red dogwood maze. The Meadow provides a place of comfort and relaxation to young and old alike.