The 30 year-old forward made his name with Cheltenham Town before signing for Barnsley for £200,000 in 2007.
The former Bristol City trainee and Forest Green striker has since had spells with League One Scunthorpe and Colchester, where his current deal expires next month.
He had been offered a new deal with Colchester where he was their player of the season but has decided to move north after talks with Steve Evans.
He will join the Millers officially on July 1st.
All at MillersMAD wish him all the best.
Kayode Odejayi (Colchester United) information Date of birth Sunday, 21st February 1982 Height 6ft 3in Place of birth Ibadon, Nigeria Weight 12st 1lb International Position Striker Comments Squad No. 15 Recent career history by club (1999 onwards) TeamDebutApps (+ sub)GoalsYellowsReds Colchester United 19 Sep 2009 79 (49) 19 8 0 Barnsley 11 Apr 2009 4 (6) 0 1 0 Scunthorpe United 28 Feb 2009 1 (5) 1 0 0 Barnsley 11 Aug 2007 35 (37) 5 5 0 Cheltenham Town 09 Aug 2003 119 (55) 35 19 0 Forest Green Rovers 20 Oct 2001 50 (2) 16 3 0 Bristol City 28 Aug 2000 1 (3) 0 0 0 Recent career history by season (1999 onwards) SeasonFirst App.Apps (+ sub)GoalsYellowsReds 2011/2012 06 Aug 2011 36 (11) 5 4 0 2010/2011 07 Aug 2010 21 (29) 4 4 0 2009/2010 08 Aug 2009 26 (12) 10 1 0 2008/2009 09 Aug 2008 9 (27) 2 3 0 2007/2008 11 Aug 2007 27 (18) 4 2 0 2006/2007 05 Aug 2006 43 (8) 16 6 0 2005/2006 06 Aug 2005 51 (5) 13 5 0 2004/2005 07 Aug 2004 10 (23) 1 1 0 2003/2004 09 Aug 2003 15 (19) 5 7 0 2002/2003 31 Aug 2002 43 (1) 15 3 0 2001/2002 20 Oct 2001 7 (1) 1 0 0 2000/2001 28 Aug 2000 1 (3) 0 0 0Total appearances 289 (+ 157 as sub); Goals 76; Yellow cards 36; Red cards 0
Source: FOOTYMAD
