diff --git a/src/generate/dateFns.ts b/src/generate/dateFns.ts
index 196f8d7ec..7253c38de 100644
--- a/src/generate/dateFns.ts
+++ b/src/generate/dateFns.ts
@@ -7,6 +7,7 @@ import {
   getHours,
   getMinutes,
   getSeconds,
+  getMilliseconds,
   addYears,
   addMonths,
   addDays,
@@ -16,6 +17,7 @@ import {
   setHours,
   setMinutes,
   setSeconds,
+  setMilliseconds,
   isAfter,
   isValid,
   getWeek,
@@ -51,6 +53,7 @@ const generateConfig: GenerateConfig<Date> = {
   getHour: date => getHours(date),
   getMinute: date => getMinutes(date),
   getSecond: date => getSeconds(date),
+  getMillisecond: date => getMilliseconds(date),
 
   // set
   addYear: (date, diff) => addYears(date, diff),
@@ -62,6 +65,7 @@ const generateConfig: GenerateConfig<Date> = {
   setHour: (date, hour) => setHours(date, hour),
   setMinute: (date, minute) => setMinutes(date, minute),
   setSecond: (date, second) => setSeconds(date, second),
+  setMillisecond: (date, millisecond) => setMilliseconds(date, millisecond),
 
   // Compare
   isAfter: (date1, date2) => isAfter(date1, date2),
diff --git a/src/generate/dayjs.ts b/src/generate/dayjs.ts
index b1d888ce7..32f16a46d 100644
--- a/src/generate/dayjs.ts
+++ b/src/generate/dayjs.ts
@@ -59,6 +59,7 @@ const generateConfig: GenerateConfig<Dayjs> = {
   getHour: date => date.hour(),
   getMinute: date => date.minute(),
   getSecond: date => date.second(),
+  getMillisecond: date => date.millisecond(),
 
   // set
   addYear: (date, diff) => date.add(diff, 'year'),
@@ -70,6 +71,7 @@ const generateConfig: GenerateConfig<Dayjs> = {
   setHour: (date, hour) => date.hour(hour),
   setMinute: (date, minute) => date.minute(minute),
   setSecond: (date, second) => date.second(second),
+  setMillisecond: (date, millisecond) => date.millisecond(millisecond),
 
   // Compare
   isAfter: (date1, date2) => date1.isAfter(date2),
diff --git a/src/generate/index.ts b/src/generate/index.ts
index b0cd56d5e..4c6fb8ee7 100644
--- a/src/generate/index.ts
+++ b/src/generate/index.ts
@@ -1,6 +1,7 @@
 export type GenerateConfig<DateType> = {
   // Get
   getWeekDay: (value: DateType) => number;
+  getMillisecond: (value: DateType) => number;
   getSecond: (value: DateType) => number;
   getMinute: (value: DateType) => number;
   getHour: (value: DateType) => number;
@@ -21,6 +22,7 @@ export type GenerateConfig<DateType> = {
   setHour: (value: DateType, hour: number) => DateType;
   setMinute: (value: DateType, minute: number) => DateType;
   setSecond: (value: DateType, second: number) => DateType;
+  setMillisecond: (value: DateType, second: number) => DateType;
 
   // Compare
   isAfter: (date1: DateType, date2: DateType) => boolean;
diff --git a/src/generate/moment.ts b/src/generate/moment.ts
index 62a0538fc..fa6ab0a78 100644
--- a/src/generate/moment.ts
+++ b/src/generate/moment.ts
@@ -21,6 +21,7 @@ const generateConfig: GenerateConfig<Moment> = {
   getHour: date => date.hour(),
   getMinute: date => date.minute(),
   getSecond: date => date.second(),
+  getMillisecond: date => date.millisecond(),
 
   // set
   addYear: (date, diff) => {
@@ -59,6 +60,10 @@ const generateConfig: GenerateConfig<Moment> = {
     const clone = date.clone();
     return clone.second(second);
   },
+  setMillisecond: (date, millisecond) => {
+    const clone = date.clone();
+    return clone.millisecond(millisecond);
+  },
 
   // Compare
   isAfter: (date1, date2) => date1.isAfter(date2),
diff --git a/src/panels/DatetimePanel/index.tsx b/src/panels/DatetimePanel/index.tsx
index eb3faccc9..4c284127f 100644
--- a/src/panels/DatetimePanel/index.tsx
+++ b/src/panels/DatetimePanel/index.tsx
@@ -141,6 +141,10 @@ function DatetimePanel<DateType>(props: DatetimePanelProps<DateType>) {
         selectedDate,
         generateConfig.getSecond(timeProps.defaultValue),
       );
+      selectedDate = generateConfig.setMillisecond(
+        selectedDate,
+        generateConfig.getMillisecond(timeProps.defaultValue),
+      );
     } else if (source === 'time' && !value && defaultValue) {
       selectedDate = generateConfig.setYear(
         selectedDate,
diff --git a/tests/generate.spec.tsx b/tests/generate.spec.tsx
index 3e1e15bb1..809ca2e39 100644
--- a/tests/generate.spec.tsx
+++ b/tests/generate.spec.tsx
@@ -9,7 +9,7 @@ import { GenerateConfig } from '../src/generate';
 
 describe('Picker.Generate', () => {
   beforeAll(() => {
-    MockDate.set(getMoment('1990-09-03 01:02:03').toDate());
+    MockDate.set(getMoment('1990-09-03 01:02:03.111').toDate());
   });
 
   afterAll(() => {
@@ -29,6 +29,7 @@ describe('Picker.Generate', () => {
         const fixedDate = generateConfig.getFixedDate('1990-09-03');
         const endDate = generateConfig.getEndDate(fixedDate);
         expect(generateConfig.getWeekDay(now)).toEqual(1);
+        expect(generateConfig.getMillisecond(now)).toEqual(111);
         expect(generateConfig.getSecond(now)).toEqual(3);
         expect(generateConfig.getMinute(now)).toEqual(2);
         expect(generateConfig.getHour(now)).toEqual(1);
@@ -51,9 +52,10 @@ describe('Picker.Generate', () => {
         date = generateConfig.setHour(date, 2);
         date = generateConfig.setMinute(date, 3);
         date = generateConfig.setSecond(date, 5);
+        date = generateConfig.setMillisecond(date, 333);
 
-        expect(generateConfig.locale.format('en_US', date, 'YYYY-MM-DD HH:mm:ss')).toEqual(
-          '2020-10-23 02:03:05',
+        expect(generateConfig.locale.format('en_US', date, 'YYYY-MM-DD HH:mm:ss.SSS')).toEqual(
+          '2020-10-23 02:03:05.333',
         );
       });
 
diff --git a/tests/util/commonUtil.tsx b/tests/util/commonUtil.tsx
index 155d2fa17..d56ec8b99 100644
--- a/tests/util/commonUtil.tsx
+++ b/tests/util/commonUtil.tsx
@@ -16,7 +16,7 @@ import RangePicker, {
   RangePickerTimeProps,
 } from '../../src/RangePicker';
 
-const FULL_FORMAT = 'YYYY-MM-DD HH:mm:ss';
+const FILLFULL_FORMAT = 'YYYY-MM-DD HH:mm:ss.SSS';
 
 export type Wrapper = ReactWrapper & {
   confirmOK: () => void;
@@ -34,7 +34,14 @@ export type Wrapper = ReactWrapper & {
 export const mount = originMount as (...args: Parameters<typeof originMount>) => Wrapper;
 
 export function getMoment(str: string): Moment {
-  const formatList = [FULL_FORMAT, 'YYYY-MM-DD', 'HH:mm:ss', 'YYYY'];
+  const formatList = [
+    FILLFULL_FORMAT,
+    'YYYY-MM-DD HH:mm:ss',
+    'YYYY-MM-DD',
+    'HH:mm:ss',
+    'HH:mm:ss.SSS',
+    'YYYY',
+  ];
   for (let i = 0; i < formatList.length; i += 1) {
     const date = moment(str, formatList[i], true);
     if (date.isValid()) {
@@ -53,7 +60,7 @@ export function isSame(date: Moment | null, dateStr: string, type: unitOfTime.St
     return true;
   }
 
-  throw new Error(`${date.format(FULL_FORMAT)} is not same as expected: ${dateStr}`);
+  throw new Error(`${date.format(FILLFULL_FORMAT)} is not same as expected: ${dateStr}`);
 }
 
 interface MomentDefaultProps {