Hurst's deal was due to expire at the end of the season and he was among a batch of Millers players whose futures were up in the air.
Millers boss Ronnie Moore has eased Hurst's fears by handing the defender a contract keeping him at the club until the summer of 2006.
The 29-year-old has spent his entire career with Rotherham and is also in his testimonial year with the club.
He has amassed almost 400 appearances for the First Division side and, with the new deal secured, he should surpass that figure for The Millers.
