Rotherham manager Mark Robins is delighted to have made Paul Warne his fifth signing of the summer.
The 36-year-old has signed a one-year deal with the Millers having been training with the club during pre-season after failing to agree terms with Yeovil.
It will be the second time Warne has signed for Rotherham having enjoyed a six-year stint between 1999 and 2005, when he made over 250 appearances, scoring 28 goals, following his move from Wigan.
Robins told the club's official website: "Paul is an experienced player who last season won the player of the year award at Yeovil.
"When I heard of his availability the only question in my mind was his fitness. Since he came to train he has proved he is as fit as he was when he first came to the club.
"He will bring with him a wealth of experience which can only benefit the squad."