The 37-year-old, who was renowned for his long throw-ins, moved to the Pirelli Stadium in July but a torn hamstring limited him to only seven appearances.
Burton manager Gary Rowett told the club's official website: "Rory has been a constant professional since he joined the club in the summer.
"His attitude and work ethic have been a credit to himself and the invaluable knowledge and experience that he has passed onto the rest of the players here at Burton Albion has been priceless."
He added: "He has had a fantastic career and we are honoured here at Burton that he has finished his career with us."
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