The 26-year-old, signed from Crewe for an undisclosed fee in July 2012, made his first appearance for the Blades as a second-half substitute since rupturing cruciate ligaments against Scunthorpe last Boxing Day.
Miller, who scored eight goals in 11 starts before his first season was cut short, told the club's official website: "I was really nervous going into the game but was delighted to get on.
"The reception from the fans was absolutely fantastic. It was humbling really and certainly a boost for me.
"I hit the ground running (before the injury) and hopefully I can get back to that in the near future.
"My match fitness is still a bit away, but more games like that and I will build it up."
- cruciate ligaments