The squad for the centennial edition of the Tour features Canada's 2012 Maglia Rosa Hesjedal, Liege-Bastogne-Liege winner Martin plus emerging American Andrew Talansky and compatriots Christian Vande Velde and Tom Danielson.
Millar, the only British rider to have worn all Tour de France jerseys and one of five to have worn the yellow jersey, will compete in the event for the 12th time.
Recent Giro d’Italia stage winner Ramunas Navardauskas and debutants Jack Bauer and Rohan Dennis complete the squad.
With Hesjedal, Vande Velde and Danielson all having finished in the top 10 in the past, and Talansky coming seventh in last year's Vuelta plus Martin having a breakout year, Garmin-Sharp CEO Jonathan Vaughters said the team would read and react to the subject of team leadership.
“We have a deep team with a lot of options as we head into the Centennial Tour de France. Our goal is to animate the race and with an aggressive strategy, we will aim to place high in the general classification,” said Vaughters.
"We have a few guys capable of achieving that – Ryder’s won a Grand Tour and placed in the top 10 of the Tour de France; Andrew is young and while it's his first Tour de France, he is coming off a great season; and Dan Martin is having a breakout year with his wins in Catalunya and Liege-Bastogne-Liege.
"We will protect our best GC options and see how the race shakes out. Our approach is a little unconventional, but we’ve managed to come up with surprises every year at the Tour and we’re hoping for the same as we head into Corsica.”