Of course they can be useful, but like any other organization, people won't get behind them if there isn't a sense of legitimacy. If you watch mainstream news, they would have you think that all militia units are bitter, racist anti-government crazies. Such is not the case, but who looks for the truth anymore?
The best example of a militia done RIGHT is the 51st in Missouri. Look them up on Youtube. They have a great PR campaign going and focus their relation-building efforts based on community needs that have nothing to do with military-esque situations. They do S&R, medical assistance, charity work, and other things that no one could possible oppose (logically).
In my opinion, the word "militia" has been soiled beyond redemption for the time being. People should create groups and call them something else like "Neighborhood Action Committee" or a friendlier title. Might even be a good idea to ditch the ranks, uniforms, insignias, etc. Unless you're talking to a rancher on the Mexican border under threat from the Zetas, most people see no need for an armed organization outside the police.