How to parse milliseconds?

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Courtesy of the ?strptime help file (with the example changed to your value):

 z <- strptime("2010-01-15 13:55:23.975", "%Y-%m-%d %H:%M:%OS")
 z # prints without fractional seconds
 op <- options(digits.secs=3)
 z
 options(op) #reset options

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