The 19-year-old has spent much of the last year with the Millers in two separate loan spells and he was due to stay at the AESSEAL New York Stadium until the end of the season.
But with Rawson not featuring in any of the last three games and not even making the matchday squad under new boss Neil Warnock, the Rams have called him back to the iPro Stadium.
Rawson scored two goals in 16 appearances this season, but shot to fame last term as being the ineligible player which saw Rotherham deducted three points.
He has been beset by injury problems this season and has spent large chunks of his Millers spell back at his parent club receiving treatment.
Derby manager Darren Wassall said: "We’re happy to have Farrend back with us following his spell at Rotherham.