The player was released in May after Martin Allen decided that Burton's wages were too high, the boss had been trying to get Burton to agree to lower his wages but after signing Lloyd Owusu and DJ Campbell it was clear that Burton would be surplus to requirements.
Allen had offererd Burton the chance to train with the Brentford till he found a new club but instead he signed a deal with Rotherham United and looks set to face the Bees towards the end of 2005.
Burton becomes the Millers sixth summer signing and has agreed a two year deal with the club according to the BBC.