Millisecond pulsars (MSPs) are short-period pulsars that are distinguished from "normal" pulsars, not only by their short period, but also by their very small spin-down rates and high probability of being in a binary system. These properties are consistent with MSPs having a different evolutionary history to normal pulsars, viz., neutronstar formation in an evolving binary system and spin-up due to accretion from the binary companion. Their very stable periods make MSPs nearly ideal probes of a wide variety of astrophysical phenomena. For example, they have been used to detect planets around pulsars, to test the accuracy of gravitational theories, to set limits on the low-frequency gravitational-wave background in the Universe, and to establish pulsarbased timescales that rival the best atomic-clock timescales in long-term stability. MSPs also provide a window into stellar and binary evolution, often suggesting exotic pathways to the observed systems. The X-ray accretion-powered MSPs, and especially those that transition between an accreting X-ray MSP and a non-accreting radio MSP, give important insight into the physics of accretion on to highly magnetised neutron stars.