Millar, in Wellington for an IRB executive committee meeting, admitted yesterday that rugby needs to "end the problem of dangerous cleanouts" at the breakdown.
"The tackle (on O'Driscoll) was made when the ball was gone.
"It's not part of rugby to be taken out off the ball. It's dangerous, the guy's not expecting it. It shouldn't be part of rugby," said the former Ireland captain and prop, who toured New Zealand with the Lions in 1959.
"Referees make the point that it's hard to watch that when they're watching the ball and the tackle.
"We've to ensure that referees apply the law. Maybe touch judges could help."
"It's just gone beyond what maybe was intended. If you start bending laws, it's a very dangerous situation, whether in rugby or in life.
"If the law's not right, change it. But if you start bending it then it means that interpretation varies.
"I think that's a dangerous part of rugby to allow people to be taken out, off the ball, and it's happening at every ruck and maul, damn near."
Ballymena man Millar was the recent recipient of a CBE in the Queen's Birthday Honours list. The 71-year-old has been Ireland's representative on the International Rugby Board since 1992 and world chairman for the past two years.