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The 29-year-old completed the deal at The Den after passing a medical this afternoon and goes straight into the squad to face Brighton & Hove Albion at the weekend, wearing the number 8 shirt made vacant by Derek McInnes move to St. Johnstone last week.
"I'm very excited," he told the club's official website. "It's been close a couple of times, but now it has happened I am delighted to be back.
"There is something special about this club; it brings out the best in me as a person and as a player. It feels like home, it always has done.
"Millwall gave me my first opportunity in football nine or 10 years ago and throughout my career I have had fantastic support from everyone at the club.
"To come back and play in front of the fans here again - and to also try and become the sole club record holder - is something I have dreamt about. I can't wait to get started."