They had moments earlier declared Sergeant Gary Silk dead after he was shot three times during a stake-out of robbery targets in Moorabbin, in Melbourne's southeast.
Sen Const Miller needed to get to hospital straight away and while intensive care paramedics were on their way, Michael Ingamells told Victoria's Supreme Court there was no time to wait.
He loaded the officer into the back of the ambulance and headed toward where MICA paramedic Anthony Balm and his trainee were waiting to transfer him to Monash Medical Centre.
Mr Balm had requested an air ambulance but was told one wasn't available.
Sen Const Miller was not in a good way. He had two wounds, caused by a bullet travelling through his body.
In the back of the MICA ambulance, with Mr Ingamells on board too, he went into cardiac arrest.
"He was going down the tube as we would call it - the fact he arrested in the ambulance, he was declining in a clinical sense," Mr Ingamells said on Tuesday.
He continued to give oxygen while the MICA trainee did chest compressions. Mr Balm drew up drugs to help save Sen Const Miller.
"A second dose of adrenaline did successfully get a pulse back and his conscious state improved - we delivered him to hospital with a pulse and breathing," Mr Balm said.
Sen Const Miller did not survive.
Jason Roberts, 41, is standing trial for the murder of the two officers.
He has pleaded not guilty to the murders, but has admitted 10 armed robbery offences.
Prosecutors allege Roberts fired one of the fatal shots that struck Sgt Silk.
It's alleged he either aided and abetted or was in a joint criminal enterprise with another man, Bandali Debs, to murder Sen Const Miller.
Central to the case are Sen Const Miller's dying declaration.
Officers who comforted him outside the Silky Emperor, the target he had been watching that night, say he indicated there were two offenders.
They've told the court Sen Const Miller made comments including "two offenders, one on foot" and "get them c***s".
Mr Ingamells said he could recall Sen Const Miller speaking to him, but not what he had said.
"He was quite unwell, really wanted us to help him and not make him die," he said.
"The only conversations I had with him were about him not wanting to die."
The trial has now shifted focus toward forensic evidence, with jurors to hear from a number of witnesses including forensic scientists about evidence found at the scene.
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