Miller played last season for the Cleveland Cavaliers, where he saw action in 52 games and averaged 13.5 minutes. The 15-year veteran has also played for Memphis, Miami, Washington, Minnesota and Orlando.
Drafted fifth overall by the Magic in 2000, he has averaged 11.3 points a game over his career. He is a good 3-point shooter, hitting 41 percent from behind the arc.
In addition to Miller, Denver signed Matt Janning, Oleksiy Pecherov and Devin Sweetney to bring its training camp roster to 19 players. The Nuggets are practicing at the United States Olympic Training Center in Colorado Springs, Colorado, this week.
They play their first preseason game Friday in Los Angeles against the Clippers.