Also known as the Ainsley Hall House or the Robert Mills Historic House and Park, the Robert Mills House is a historic home in Columbia, South Carolina. Built in 1823 for the wealthy Englishman Ainsley Hall and wife, Sarah, it is more popularly known with the name that was taken after its architect, Robert Mills, a well known professional of the sort at the time. The two-story brick mansion is one of the few residential buildings that Mills has ever worked on.

When Hall died, the house was sold to the Presbyterian Synod of South Carolina by his wife. It was then used as a seminary starting 1831. In 1927, it then became the Westerveldt Academy campus, and then the Columbia Bible College?s until 1960.

When the Robert Mills House became threatened of demolition in the 1960s, the Historic Columbia Foundation formed and saved the property. They purchased and restored it. In 1967, they opened the site as a historic house museum.