The Hatters top talent has played more than 400 games for the Hatters but made only 10 appearances so far this season in the Championship, all from the bench.
He made his Luton debut in December 2013 and created history a decade later by becoming the first player to represent one club in all five divisions from the National League to Premier League.
The 30-year-old, who can also play in central defence or on the wing as well as midfield, becomes Rotherham’s third signing of the January window.
Rotherham United have signed midfielder Pelly Ruddock Mpanzu on loan from Luton Town until the end of the season.
“To leave a club I have really affinity with in Luton, it would have to be for a challenge that really excites me and this certainly is that,” Mpanzu said.
Rotherham manager Steve Evans said Mpanzu was the club’s “number one” target this window.
“I’ve always said that we want to bring the right people to Rotherham United and Pelly is certainly someone who encapsulates what we’re all about,” he said.
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