I've just been given a link to Ipswich Charter Hangings.
Not, strictly speaking a Millennium Embroidery, they celebrate the 800th Anniversary of the granting of a Royal Charter to Ipswich by King John in 1200.
The panels were researched and designed by Isabel Clover, a lecturer and tutor at Suffolk College renowned nationally for her ecclesiastical embroidery, and were produced under her direction by current or former City and Guild students.
Like many of the 'Tapestries' the eight panels seem to have had difficulty finding a permanent home and have even had a temporary exhibition in Jamestown and Ipswich in the USA
Their permanent home seems to have been settled as St. Peter's Church, College St. Ipswich IP4 1DD.