The National Association of Free Will Baptists does not mandate a specific millennial position. However, premillennialism — the view that Christ will return before a literal 1,000-year earthly reign — is the most common eschatological position held among Free Will Baptist churches and pastors. This view holds that Christ will return in glory, raise the dead, and then establish a visible kingdom on earth for 1,000 years, during which Satan is bound.

Within premillennialism, many Free Will Baptists hold to a pre-tribulation rapture view (that believers will be caught up before a seven-year period of tribulation), though post-tribulational and mid-tribulational views are also represented. The denomination has not settled on a binding position, and pastors and churches are free to teach different millennial views without violating denominational fellowship.

Amillennial and postmillennial views are represented in Free Will Baptist churches, though less prominently than premillennialism. The openness to differing eschatological views reflects the Free Will Baptist emphasis on individual Bible study and freedom of conscience. While premillennialism is the cultural default in many Free Will Baptist congregations, there is no official denominational position that requires it.