The 22-year-old has put pen to paper on a deal at New York Stadium following his release from Premier League giants Manchester United and becomes the sixth new arrival at the Millers.
Thorpe, who played once for the Red Devils first team, is an England youth international having represented every level up to the under-21s and has experience of Championship football after spending time on loan at Birmingham in the 2013-14 campaign.
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Boss Steve Evans was delighted to finally get his man, saying: "This is a young man that I have targeted since the first day he was released by Manchester United.
“There is no secret within the Millers that I tried to take young Tom on loan on a number of occasions last season, but at that time we couldn’t make it happen.
“This young man has everything that is good with the modern day footballer. He has height, strength, speed, awareness and technical ability.
"There is no doubt that this lad for me is exceptional, and we are delighted to be able to attract a player who has had multiple options to sign for clubs in the Premier League, Championship and Scottish Premiership.”
Following this week's exit of Kari Arnason, Evans says he has signed a younger version, with Thorpe also able to operate in central midfield.
And he does not come without glowing references in the game.
"Young Tom comes with a fantastic recommendation from some very serious people within football, and when the likes of Ryan Giggs and Warren Joyce at Manchester United tell you to move quickly to sign this lad, then you know he is a talented individual,” Evans added.
“He will join the group on Monday and I fully expect him to stake an immediate claim for a starting place in a line-up for the upcoming season.
“Tom is a central defender, and is accomplished in a central midfield role, and I believe our supporters will see a comparison with a very quick 22-year-old Kari Arnason."
“He will join the group on Monday and I fully expect him to stake an immediate claim for a starting place in a line-up for the upcoming season.
“Tom is a central defender, and is accomplished in a central midfield role, and I believe our supporters will see a comparison with a very quick 22-year-old Kari Arnason."
Thorpe's capture means the Millers have signed as many people in the first three days of July as they did in the previous two months, with more to come.
Danny Collins and Emmanuel Ledesma arrived after July 1 while Aidy White, Joe Mattock and Lewis Buxton all came last month.
