The ex-Barnsley striker left relegated Exeter City and will join the Millers from July 1st as he returns to the North of England where he started his career.
He told the clubs official website themillers.co.uk: "This club is really moving forward and I wanted to be a part of it, it is a great move for me and hopefully I can repay the gaffer's trust and faith in me and score a lot of goals next season, and help the club achieve promotion.
"The Gaffer asked if I was interested in talking so I drove up with my Dad, we had a chat and he showed me around the new stadium so it looked like a really good move for me.
"We went to the back of the home end and it looked a class act so that was one of many reasons why I decided to move. There was some interest from League One clubs but I discussed it with my wife and family and we felt that Rotherham would be a really good move. The club really seems to be going places so hopefully I can be a part of that."
The 30 year-old added: "Steve Evans believes in what he does and where the club can go. He has been successful at a number of clubs and he is really enthusiastic, I believe he can take the club forward and improve me as a player."