Rotherham have released Andy Warrington, Dale Tonge and Alec Denton, but Mark Bradley and Mitch Rose have earned new contracts.
Veteran goalkeeper Warrington is a fans' favourite and leaves after six years with the Millers where he made close to 250 appearances, including 32 this season as promotion to League One was secured.
Defender Dale Tonge has also been with the club since 2007, but has been severely restricted by injuries and made only 11 appearances this term.
Young striker Alec Denton, who spent time on loan at Stocksbridge, leaves having made just two first-team appearances for the club.
Boss Steve Evans said: "It was a tough decision. This is the first part of a process which will allow me to put in place a squad for next season that will target a place in the Championship come next May.
"In relation to Andy Warrington, this was as tough a decision as I have had to make in my managerial career.
"He has had an excellent season and is an outstanding professional. He is a man I have the highest regard for, someone who I like and therefore the decision to release him was very tough.
"The lad leaves with my best wishes and I have no doubt every Millers fan will continue to hold him in high esteem."
Bradley and Rose both pen new one-year deals and Evans added: "I'm delighted they've agreed to extend and I look forward to working with them both next season as we strive to reach our ambition, and that is to be a Championship club at this time next year."