The deal for Hylton, which was originally leaked last week in various media outlets, has now been concluded and all the paperwork has been signed off.
The former Aldershot forward has signed a two year deal.
Meanwhile left sided player Milsom, who started his career with Fulham and was heavily linked with a move to the NYS last week, has signed until the January transfer window with the option of an extension.
“I am absolutely delighted to eventually be in the position to have got Danny and Rob at the Millers,” boss Steve Evans told www.themillers.co.uk“It has taken a little longer to get both signatures but both lads have got great ability and will greatly enhance what we have in the squad." More to follow later.