Rotherham will begin life in League One with a trip to Crewe on the opening day of the season.
The Millers, who finished second in League Two last campaign, will then welcome Preston to New York Stadium for their first home game, before hitting the road again as boss Steve Evans visits former club Crawley on August 17.
They host South Yorkshire rivals Sheffield United at home on September 7, with the return fixture on March 8.
Boxing Day sees a visit to Bradford, with another away game at Port Vale on December 29 before Coventry come to the New York Stadium on New Year's Day.
The Millers travel to Wolves on their penultimate away game on Easter Saturday, with their final home game against MK Dons and conclude their campaign with a trip to Swindon on May 3.