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Shaw, who can play anywhere along the back line, has signed a one year deal while Day, who lists Spurs, Crystal Palace, Watford and Queens Park Rangers amongst his former clubs, has signed a two-year contract.
"I'm very pleased to be back in London," Shaw told the club's official site. "But I've not come to Millwall just to see out the end of my career comfortably.
"I'm still thoroughly enjoying playing and I am aiming to help Millwall be successful."
Day, meanwhile, cited the prospect of working under Nigel Spackman as one the major reasons why he moved back to the capital.
"I had a few options at the end of the season and spoke to a few interested clubs but once I spoke to Nigel I knew that Millwall was where I wanted to play next year.
"Although the club struggled last year, there is a really positive atmosphere from what I've seen of the place so far and everyone is desperate to get back into the Championship next year.
"I am looking forward to working under Nigel and challenging strongly for the first team place here."