Noble, who was recently released by Exeter, has signed a two-year deal after the Millers fought off competition from at least four other sides for the 30-year-old's signature.
Rotherham boss Steve Evans told the club's official website: "David is a player who myself and Paul Raynor (assistant) have worked with before and we are delighted at securing his signing.
"Thursday afternoon he was very close to committing to a League One club, in fact he was on his way to sign for them, but after another 30-minute chat about what we are trying to achieve he told me he wanted to be part of it and was on this way to Rotherham.
"I had previously taken the time to show him around the New York Stadium and outlined our plans for Rotherham United. I knew at that stage that a player of the calibre of Nobes would be sought after and there was still a lot of work to be done if I was to make him a Miller.
"He is a talented individual and will help us unlock defences in the season ahead. The other thing that we know from first-hand experience is that the boy is a winner and a fierce competitor. It goes without saying that once again I must acknowledge the support of the chairman and the vice-chairman Richard Stewart."