<PAGE>   1




                       SECURITIES AND EXCHANGE COMMISSION
                             Washington, DC  20549


                                   FORM 10-Q

  /X/    QUARTERLY REPORT UNDER SECTION 13 OR 15 (d)
         OF THE SECURITIES EXCHANGE ACT OF 1934

  / /    TRANSITION REPORT PURSUANT TO SECTION 13 OR 15 (d)
         OF THE SECURITIES EXCHANGE ACT OF 1934

For Quarter Ended November 27, 1993              Commission File No. 0-5813


                              HERMAN MILLER, INC.


A Michigan Corporation                                     ID No. 38-0837640

855 Main Avenue, PO Box 302, Zeeland, MI  49464-0302    Phone (616) 654 3000

Herman Miller, Inc.

         (1) has filed all reports required to be filed by Section 13 or
             15(d) of the Securities Exchange Act of 1934 during the
             preceding 12 months                   Yes  /X/     No / /

         (2) has been subject to such filing requirements for the past 90
             days.                                 Yes  /X/     No / /

Common Stock Outstanding at December 30, 1993--25,103,990 shares.

The Exhibit Index appears at page 14.

<PAGE>   2
                         HERMAN MILLER, INC. FORM 10-Q
                    FOR THE QUARTER ENDED NOVEMBER 27, 1993
                                     INDEX



<TABLE>
<CAPTION>
                                                                                        Page No.
                                                                                        --------
<S>                                                                                      <C> 

Part I--Financial Information

      Condensed Consolidated Balance Sheets--
         November 27, 1993, and May 29, 1993                                                3

      Condensed Consolidated Statements of Operations--
         Three Months and Six Months Ended November 27, 1993,
         and November 28, 1992                                                              4

      Condensed Consolidated Statements of Cash Flows--
         Six Months Ended November 27, 1993
         and November 28, 1992                                                              5
                                                     
      Notes to Condensed Consolidated Financial Statements                                  6-7

      Management's Discussion and Analysis of
         Financial Condition and Results of Operations                                      8-11


Part II--Other Information

      Exhibits and Reports on Form 8-K                                                      12

      Signatures                                                                            13

      Exhibit Index                                                                         14
</TABLE>






                                                        -2-

<PAGE>   3
                              HERMAN MILLER, INC.
                     CONDENSED CONSOLIDATED BALANCE SHEETS
                             (DOLLARS IN THOUSANDS)



<TABLE>
<CAPTION>
                                      November 27,       May 29,                                            November 27,    May 29,
                                        1993              1993                                                1993           1993 
                                      ------------       --------                                           ----------     --------
                                      (unaudited)       (audited)                                           (unaudited)    (audited)
<S>                                   <C>               <C>            <C>                                   <C>           <C>  
ASSETS                                                                 LIABILITIES & SHAREHOLDERS' EQUITY
- ------                                                                 ----------------------------------
                                                                  
CURRENT ASSETS:                                                        CURRENT LIABILITIES:
 Cash and cash equivalents             $   24,155        $ 16,531       Current maturities of long-term debt  $    529     $    515
 Accounts receivable, net                 126,959         111,218       Notes payable                           27,352       18,234
 Inventories --                                                         Accounts payable                        41,985       38,654
  Finished goods                           19,307          18,923       Accruals                                90,236       87,456
                                                                                                              --------      -------
  Work in process                           7,032           6,692         Total current liabilities            160,102      144,859
                                                                                                              --------      -------
  Raw materials                            33,248          30,423  
                                       ----------         --------  
    Total inventories                      59,587          56,038      LONG-TERM DEBT, less current             
                                       ----------         --------          maturities                          20,870       21,128 
 Prepaid expenses and current                                      
  deferred income taxes                    23,333          23,783      DEFERRED TAXES                            7,185        7,412
                                       ----------         -------                                                 
                                                                  
    Total current assets                  234,034         207,570      OTHER LIABILITIES                        28,560       27,001
                                       ----------         -------                                               
                                                                  
PROPERTY AND EQUIPMENT, AT COST           447,480         431,407      SHAREHOLDERS' EQUITY:
 Less-accumulated depreciation            215,519         202,963       Common stock $.20 par value              5,059        5,001
                                       ----------         -------                                                
   Net property and equipment             231,961         228,444       Additional paid-in capital              36,451       29,863
                                       ----------         -------                                                
                                                                        Retained earnings                      263,918      251,831
OTHER ASSETS:                                                           Cumulative translation adjustment       (2,344)      (1,349)
 Notes receivable, net                     38,578          32,174       Unearned stock grant compensation       (1,110)      (1,404)
                                                                                                              --------      -------
 Other noncurrent assets                   14,118          16,154  
                                       ----------         -------  
                                                                         Total shareholders' equity            301,974      283,942
                                                                                                              --------      -------
                                                                  
                                                                         Total liabilities and
   Total assets                        $  518,691        $484,342         shareholders' equity                $518,691     $484,342
                                       ----------        --------                                             --------     --------
                                       ----------        --------                                             --------     --------
</TABLE>
                                                          
                                 
                                 
                                 
     See accompanying notes to condensed consolidated financial statements.





                                                        -3-

<PAGE>   4
                              HERMAN MILLER, INC.
                CONDENSED CONSOLIDATED STATEMENTS OF OPERATIONS
                  (DOLLARS IN THOUSANDS EXCEPT PER SHARE DATA)
                                  (UNAUDITED)


<TABLE>
<CAPTION>                                                                                  
                                                                    Three Months Ended                 Six  Months Ended  
                                                                  ---------------------               ---------------------  
                                                                   Nov. 27,      Nov. 28,              Nov. 27,     Nov. 28,
                                                                    1993          1992                  1993         1992  
                                                                  --------      --------              --------     --------
<S>                                                              <C>          <C>                    <C>          <C>
NET SALES                                                        $241,822     $ 204,974              $ 463,388    $404,570
                                                                                           
COST AND EXPENSES:                                                                         
                                                                                           
    Cost of goods sold                                            157,492       136,114                302,735     267,314
    Operating expenses                                             67,340        62,142                130,527     125,733
    Interest expense                                                  317           699                    744       1,238
    Other income, net                                                (810)          (39)                (1,675)       (482)
                                                                 --------      --------                -------     -------
                                                                  224,339       198,916                432,331     393,803
                                                                 --------       -------                -------     -------
INCOME BEFORE TAXES ON INCOME                                      17,483         6,058                 31,057      10,767
                                                                                           
PROVISION FOR TAXES ON INCOME                                       6,300         2,500                 12,400       4,800
                                                                  -------        ------                -------      ------
NET INCOME                                                       $ 11,183     $   3,558              $  18,657   $   5,967
                                                                  -------      --------              ---------     -------
                                                                  -------      --------              ---------     -------
NET INCOME PER SHARE                                             $    .44     $     .14              $     .74   $     .24
                                                                ---------     ---------              ---------   ---------
                                                                ---------     ---------              ---------   ---------
DIVIDENDS PER SHARE OF COMMON STOCK                              $    .13     $     .13              $     .26   $     .26
                                                                ---------     ---------              ---------   ---------
                                                                ---------     ---------              ---------   ---------
</TABLE>
  

     See accompanying notes to condensed consolidated financial statements.





                                                        -4-

<PAGE>   5
                              HERMAN MILLER, INC.
                      CONDENSED CONSOLIDATED STATEMENTS OF
                                   CASH FLOWS
                             (DOLLARS IN THOUSANDS)
                                  (UNAUDITED)

<TABLE>
<CAPTION>
                                                                               Six Months Ended
                                                                               ----------------
                                                                         Nov. 27,           Nov. 28,
                                                                           1993               1992    
                                                                         -----------       ----------
<S>                                                                      <C>                <C>
CASH FLOWS FROM OPERATING ACTIVITIES:
    Net income                                                           $ 18,657            $  5,967
    Depreciation and amortization                                          16,891              16,066
    Other, net                                                             (9,841)             16,891
                                                                         --------            --------
    Net cash provided by operating activities                              25,707              38,924
                                                                         --------            --------

CASH FLOWS FROM INVESTING ACTIVITIES:
    Notes receivable repayments                                           189,556             154,037
    Notes receivable issued                                              (197,210)           (155,790)

    Capital expenditures                                                 ( 18,236)            (17,081)
    Other, net                                                              1,139              (3,101)
                                                                         --------            --------
    Net cash used for investing activities                                (27,029)            (21,935)
                                                                         --------            --------

CASH FLOWS FROM FINANCING ACTIVITIES:
    Net common stock issued                                                 8,281               1,047
    Net long-term debt repayments                                             (57)             (8,892)
    Net short-term debt borrowings                                          9,404               5,797
    Dividends paid                                                         (6,534)             (6,553)
    Common stock purchased and retired                                     (1,634)             (8,155)
    Other, net                                                               (138)               (140)
                                                                         --------            --------
    Net cash provided by (used for) financing activities                    9,322             (16,896)
                                                                         --------            --------

EFFECT OF EXCHANGE RATE
    CHANGES ON CASH                                                          (376)               (911)
                                                                         --------            --------

NET INCREASE (DECREASE) IN CASH AND
    CASH EQUIVALENTS                                                        7,624                (818)

CASH AND CASH EQUIVALENTS
    BEGINNING OF PERIOD                                                    16,531              16,949
                                                                         --------            --------

CASH AND CASH EQUIVALENTS
    AT END OF PERIOD                                                     $ 24,155            $ 16,131
                                                                         --------            --------
                                                                         --------            --------
</TABLE>


     See accompanying notes to condensed consolidated financial statements.





                                                        -5-

<PAGE>   6
                              HERMAN MILLER, INC.
              NOTES TO CONDENSED CONSOLIDATED FINANCIAL STATEMENTS


FOOTNOTE DISCLOSURES

The condensed consolidated financial statements have been prepared by the
company, without audit, pursuant to the rules and regulations of the Securities
and Exchange Commission.  Certain information and footnote disclosures normally
included in financial statements prepared in accordance with generally accepted
accounting principles have been condensed or omitted pursuant to such rules and
regulations. The company believes that the disclosures made in this document
are adequate to make the information presented not misleading. It is suggested
that these condensed financial statements be read in conjunction with the
financial statements and notes thereto included in the company's Annual Report
on Form 10-K for the year ended May 29, 1993.

FISCAL YEAR

The company's fiscal year ends on the Saturday closest to May 31.

SUPPLEMENTAL CASH FLOW INFORMATION

Cash and cash equivalents include all highly liquid debt instruments purchased
as part of the company's cash management function.  Due to the short maturities
of these items, the carrying amount approximates fair value.

Cash payments for income taxes and interest (in thousands) were as follows:


<TABLE>
<CAPTION>
                                                        Six Months Ended
                                                        -----------------
                                                 November 27,           November 28,
                                                   1993                    1992     
                                             -----------------        ---------------
<S>                                            <C>                       <C>
        Interest paid                          $   729                   $1,061
        Income taxes paid                      $13,506                   $8,247
</TABLE>






                                                        -6-

<PAGE>   7
CONTINGENCIES

On January 7, 1992, Haworth, Inc., filed a lawsuit in the U.S. District Court
for the Northern District of Georgia, Atlanta Division, against Herman Miller,
Inc., alleging that the electrical systems used in certain of the company's
products infringes one or more of Haworth's patents. On December 9, 1992, the
company's motion for change of venue was granted, and the lawsuit was
transferred to the U.S. District Court for the Western District of Michigan
(Southern Division).  The company has received a written opinion from its
patent counsel that such patent counsel do not believe the company has been
selling an infringing product. The litigation is in a preliminary stage, and
the company is defending its position vigorously.

Additionally, there are various other claims and legal proceedings pending
against the company arising from its operations.

At this time, management does not expect these matters to have a material
adverse effect on the company's consolidated financial position. However, the
outcome of these matters is not subject to prediction with certainty.

REPORT OF MANAGEMENT

In the opinion of the company, the accompanying unaudited condensed
consolidated financial statements taken as a whole contain all adjustments,
consisting of only a normal and recurring nature, necessary to present fairly
the financial position of the company as of November 27, 1993, and the results
of its operations and cash flows for the six months then ended. Interim results
are not necessarily indicative of results for a full year.





                                                        -7-

<PAGE>   8
 
                     MANAGEMENT'S DISCUSSION AND ANALYSIS
                OF FINANCIAL CONDITION AND RESULTS OF OPERATIONS


The following is management's discussion and analysis of certain significant
factors which have affected the company's financial condition and earnings
during the periods included in the accompanying condensed consolidated
financial statements.

A. Financial Summary

   A summary of the period-to-period changes is shown below.
   All amounts are increases (decreases) unless otherwise
   noted.  Dollars are shown in thousands.



<TABLE>
<CAPTION>
                                                                         Three Months                 Six Months      
                                                                  ------------------------     -----------------------
                                                                       $             %              $            %    
                                                                  ----------     ----------    ----------    ---------
      <S>                                                        <C>          <C>             <C>             <C>
      NET SALES                                                  36,848           18.0        58,818            14.5

      COST OF GOODS SOLD                                         21,378           15.7        35,421            13.3

      OPERATING EXPENSES                                          5,198            8.4         4,794             3.8

      INTEREST EXPENSE                                             (382)         (54.6)         (494)          (39.9)

      OTHER (INCOME) EXPENSE, NET                                  (771)*     (1,976.9)       (1,193)*        (247.7)

      INCOME BEFORE TAXES ON INCOME                              11,425          188.6        20,290           188.4

      PROVISION FOR TAXES ON INCOME                               3,800          152.0         7,600           158.3

      NET INCOME                                                  7,625          214.3        12,690           212.7
</TABLE>


* Represents an increase in other income





                                                        -8-

<PAGE>   9
B. Results of Operations

   Net sales increased $36.8 million, or 18.0 percent,
   over second quarter results a year ago. For the
   second three months of 1994, the company had net
   sales of $241.8 million, compared with net sales of
   $205.0 million in the second three months last year.
   For the first six months of 1994, the company had net
   sales of $463.4 million, compared to net sales of
   $404.6 million in the first six months last year.

   Net sales of $241.8 million for the second quarter
   were the highest recorded in any quarter of the
   company's history. According to the most recent
   statistics of the Business and Institutional
   Furniture Manufacturers Association (BIFMA), United
   States office furniture sales for both the last five-
   and ten- month periods increased between 5 and 6
   percent over the same periods a year ago. This
   compares with the company's year-over-year United
   States net growth rates of 16.5 percent and 14.4
   percent for the last 6 and 12 months, respectively.
   Consolidated order entry through the fourth week of
   December remains strong on a comparative basis with
   year-ago levels.

   Net sales of international operations and export
   sales from the United States in the second quarter
   ended November 27, 1993, totaled $40.2 million
   compared with $30.8 million last year. For the first
   six months of 1994, net sales of international
   operations and export sales from the United States
   were $65.8 million compared with $63.1 million last
   year.

   The backlog of unfilled orders at November 27, 1993,
   was $140.7 million compared with $140.4 million a
   year earlier, and $132.1 million at August 28, 1993.

   New orders received in the second quarter increased
   $23.8 million to $250.5 million, or 10.5 percent,
   when compared to the same period a year ago. New
   orders for the first six months increased $45.6
   million, or 10.6 percent, when compared to the first
   six months of fiscal 1993. New orders for the first
   six months of fiscal 1994 also were a company record
   for a six-month period.

   Gross margin increased to 34.9 percent during the
   second quarter of 1994, compared to a gross margin of
   33.6 percent for the same period last year. The gross
   margin for the first six months increased to 34.7
   percent of net sales compared with 33.9 percent in
   the prior year. This primarily was attributable to
   increased volume in fiscal year 1994, which more
   effectively utilizes fixed overhead.

   Operating expenses, including design and research,
   were $67.3 million for the second quarter, an
   increase of $5.2 million, or 8.4 percent, over second
   quarter last year. Operating expenses for the first
   six months of 1993 were $130.5 million, a $4.8
   million increase over the $125.7 million operating
   expenses for the first six





                                                        -9-

<PAGE>   10
   months of 1993. As a percent of net sales, operating
   expenses were 28.2 and 31.1 for the first six months
   of the current and prior year, respectively. The
   decrease as a percent of net sales directly was
   attributable to the increase in net sales as well as
   a lower fixed cost structure as a result of the
   company's ongoing restructuring and cost reduction
   efforts.

   Interest expense decreased $.4 million over second
   quarter 1993. The decrease primarily was a result of
   reduced long- and short-term borrowings. Total
   interest bearing debt was $48.8 million at the end of
   the second quarter of fiscal 1994, compared with
   $49.9 million at November 28, 1992.

   Net other income increased $.8 million over second
   quarter 1993. For the first six months of 1994, net
   other income increased to $1.7 million from $.5
   million in the prior year.

   The effective tax rate was 39.9 percent for the first
   six months of 1994, compared with 44.6 percent for
   the same period last year. The effective tax rate
   decreased for the first six months due to a reduction
   in European losses year to date in fiscal 1994 over
   fiscal 1993.

   Net income increased to $11.2 million in the second
   quarter, compared to $3.6 million income for the same
   period last year. Net income for the first six months
   of 1994 was $18.7 million compared to $6.0 million
   for the same period last year. Net income for the
   second quarter was the best recorded in 3.5 years.

   Net income from the company's international
   operations and export sales from the United States
   for the second quarter increased to net income of
   $1.5 million compared with a net loss of $1.3 million
   last year.  The first six months increased $2.3
   million to a $.9 million loss, compared with net loss
   of $3.2 million for the same period last year.

   The company's international results were affected by
   significant project business in both Asia/Pacific and
   Latin America regions, which more than doubled total
   second quarter sales in these regions over last year
   and also contributed to the highest net income from
   international and United States exports in three
   years.  While European net sales fell 4 percent
   versus a year ago, European results improved for the
   second quarter $.5 million due to cost reduction and
   restructuring measures initiated last year. During
   the second quarter, order entry in Europe was weak on
   a year-to-year comparative basis, but was stronger on
   a sequential basis over the first quarter.
   Asia/Pacific and Latin America second quarter orders
   were strong on both a comparative and sequential
   basis. Prolonged sluggish growth in Continental
   Europe and Japan will continue to contribute to the
   uncertainty and volatility of the company's
   international results.

   The second quarter of fiscal 1994 marked the fourth
   consecutive quarter of favorable year-to-year
   comparisons in both net sales and net income.





                                                        -10-

<PAGE>   11
C. Financial Condition, Liquidity, and Capital Resources

   First Six Months FY 1994 versus First Six Months FY 1993

   The first six months' cash flow from operating
   activities totaled $25.7 million when compared to net
   income of $18.7 million. Higher volume for the last
   six months increased demand for working capital and
   lessened cash flow from operations. However, accounts
   receivable and inventory as well as all other assets
   (except cash) increased less on a percentage basis
   than the 14.5 percent increase in net sales for the
   last six months. Asset utilization, as measured by
   the ratio of net sales-to-average assets, improved to
   1.85 in fiscal 1994 from 1.73 in the first six months
   in fiscal 1993. Net return-on-average total assets
   (ROA) and net return-on-average total equity (ROE)
   both improved to 7.4 percent and 12.7 percent,
   respectively, versus 2.6 percent and 4.4 percent a
   year ago, respectively.

   The company is committed to the 2.0 million share
   repurchase program announced in January 1991 and
   resumed purchases in the second quarter of fiscal
   1994. During the three months ended November 27,
   1993, 65,000 shares were repurchased at an average
   cost of $25.14 per share. This brought the total
   shares repurchased since January of 1991 to 1.41
   million shares at an average cost of $17.44 per
   share. All share repurchases have been made on the
   open market on an unsolicited basis.

   Other than described above, there were no significant
   changes to the company's overall financial condition
   during the first six months of fiscal year 1994. The
   company's planned capital requirements for the
   remainder of the fiscal year include approximately
   $24 million of capital expenditures and long-term
   debt repayments.  Management believes that the
   company's cash and cash equivalents, combined with
   cash generated from operations and, if necessary,
   additional available external financing capability,
   will be adequate to meet anticipated liquidity needs
   for operations.





                                                        -11-

<PAGE>   12
P
art II


Item 6: Exhibits and Reports on Form 8-K

1. Exhibits

   See Exhibit Index

2. Reports on Form 8-K

   No reports on Form 8-K were filed during the three months ended November 27,
   1993.





                                                        -12-

<PAGE>   13

                                   SIGNATURES

Pursuant to the requirements of the Securities Exchange Act of 1934, the
registrant has duly caused this report to be signed on its behalf by the
undersigned hereto duly authorized.

                                            HERMAN MILLER, INC.

January 4, 1994                             /s/ J. KERMIT CAMPBELL
                                            -------------------------
                                            J. Kermit Campbell
                                            (President and
                                            Chief Executive Officer)



January 4, 1994                             /s/ JAMES H. BLOEM
                                            -------------------------
                                            James H. Bloem
                                            (Vice President,
                                            Chief Financial Officer,
                                            and Principal Accounting Officer)





                                                        -13-

<PAGE>   14
*Exhibit Index

(11) Computations of earnings per common share.





                                                        -14-





<PAGE>   1
                                                                      EXHIBIT 11

                              HERMAN MILLER, INC.
                   COMPUTATIONS OF EARNINGS PER COMMON SHARE
                  (DOLLARS IN THOUSANDS EXCEPT PER SHARE DATA)
                                  (UNAUDITED)



<TABLE>
<CAPTION>
                                                               Three Months Ended             Six Months Ended    
                                                           -----------------------       -------------------------
                                                           Nov. 27,       Nov. 28,        Nov. 27,         Nov. 28,
                                                             1993           1992            1993            1992  
                                                           --------       --------        ---------        -------
<S>                                                     <C>             <C>              <C>               <C>
NET INCOME APPLICABLE                       
    TO COMMON SHARES                                    $    11,183     $    3,558      $    18,657    $      5,967
                                                         ----------        -------        ---------       ---------
                                                         ----------        -------        ---------       ---------
                                            
Weighted Average Common                     
    Shares Outstanding                                   25,244,718     24,928,583       25,190,088      25,056,392
                                            
Net Common Shares                           
    Issuable Upon Exercise                  
    of Certain Stock Options                                160,333          2,618          166,423           4,745
                                                         ----------        -------         --------       ---------
                                            
WEIGHTED AVERAGE COMMON SHARES              
    OUTSTANDING AS ADJUSTED                              25,405,051     24,931,201       25,356,511      25,061,137
                                                        -----------     ----------       ----------      ----------
                                                        -----------     ----------       ----------      ----------
                                            
NET INCOME PER SHARE                                    $       .44     $      .14      $       .74     $       .24
                                                        -----------     ----------      -----------     -----------
                                                        -----------     ----------      -----------     -----------
</TABLE>