Henry I (c. 1175–1221), of the house of Millau, was the Count of Rodez and Viscount of Carlat from 1208 until his death. He was the son and successor of Hugh II. His mother was Bertrande d'Amalon.

In 1212, he married Algayette, heiress of Guy, lord of Scorailles. She gave birth to his eventual successor, Hugh IV, and also a daughter, Guida, who married the troubadour Pons de Monlaur. Henry I died on the Fifth Crusade.