The Malagasy endemic whirligig beetle Heterogyrus milloti Legros, 1953 is redescribed. Jumping behavior of H. milloti is reported here for the first time with video recordings provided. Results of a behavioral experiment conducted in the field demonstrate H. milloti jumps in a targeted manner in a downstream direction. The unique habitat of H. milloti is described in detail with both image and video of the habitat included. Morphology of H. milloti is discussed in detail, revealing symplesiomorphies with Spanglerogyrus Folkerts, 1979, characters forming transitional series between Spanglerogyrus and the Gyrininae, and features unique to H. milloti. The potential adaptive significance of these peculiar morphological features in association with the habitat of H. milloti is discussed. Finally, an argument for the necessity of conservation of this species is made, and common names in English, French, Malagasy, and Swedish for H. milloti are proposed to aid conservation efforts.