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Jeff Miller is the eleven-year-old son of Ellen Miller and the desceased war hero John Miller. He lives on a farm in the Midwest with his mother and grandfather, George "Gramps" Miller. Jeff receives Lassie as a bequest at the death of her owner Homer Carey, a neighbor of the Millers. Jeff's best friend is Sylvester "Porky" Brockway. In the middle of the fourth season, "Gramps" dies and Jeff and his mother make plans to sell the farm and move to the city where Jeff will attend a science high school. The farm is sold to Paul and Ruth Martin. The two adopt Timmy, a foster boy on the farm, and Jeff leaves Lassie on the farm with Timmy before departing for the city. Jeff is never seen or mentioned again.

Jeff is a typical American boy. He is eager for adventure and fun. He is optimistic and has a positive outlook on life. He's no saint and mischievously enjoys snooping upon neighbors via the party line in the Miller home.

Ellen Miller is a widow raising a son named Jeff on a small farm near the fictional town of Calverton. Her husband John Miller was killed in WWII. Her father-in-law George "Gramps" Miller lives on the farm and manages the heavier work. Ellen's mother lives in Capitol City, 50 miles distant. Ellen has attended college and, in one episode, enjoys a visit from her college roommate. Ellen sings in church and has been offered a job singing on the radio. She attracts the romantic interest of Clay Horton, a constable who asks her for a date, but serious romance never develops. In the fourth season episode, "The Transition", Ellen's father-in-law Gramps Miller dies, and she decides to move to Capitol City to teach music. Paul and Ruth Martin buy the farm and adopt Timmy, a foster boy living on the farm. Lassie remains with Timmy when Ellen moves.

Jan Clayton was a celebrated musical theater star before taking the job of playing Ellen Miller. When her daughter died in a car accident, Clayton wanted to leave the show and return to the musical stage. Producers tried to keep her on the show (even suggesting her widow character get married and adopt "Timmy") but Clayton rejected all suggestions. She was finally written out of the show when co-star Cleveland died suddenly in the fourth season and the show was completely overhauled. In "Transition" she moves to Capitol City with her son, but makes one last appearance in the episode immediately following to give Timmy's new mom some tips about raising a boy. She never appeared on the show again.

George Miller is Ellen Miller's father-in-law and Jeff Miller's grandfather. He is in his late sixties, lives on the Miller farm, and manages the heavier work. He has a good heart beneath his grumpy exterior. His best friend is Matt Brockway and the two men often meet for games of checkers. Jeff refers to his grandfather as "Gramps" while Ellen calls him "Dad." Gramps dies and Ellen sells the farm; she and her son Jeff move to Capitol City.