Gorman, 25, was part of the Millers side that won the Nottinghamshire County Cup in 2017 and came through the ranks at Nottingham Forest.
He left Carlton for Quorn during the 2018/19 season before moving on to Newark Flowserve where he spent the last campaign.
Chairman Mick Garton told the club’s official website: “I personally was sorry to see Lawrence go, he was pivotal to that cup triumph and a great signing by Wayne Scott at the time.
“He will challenge Toby and Bally for a centre half start but is equally competent at full back or in midfield and it will give Tommy and Mark some new options, he also knows the club well following his previous success here, so that is another plus.”
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