Nangle, who enjoyed a two-year scholarship at the Magpies earlier in his career before going on to feature eight times for their first team, has joined his local club as they ramp up preparations for the new Pitching In NPL East Division campaign.
He was set to join the Millers at the end of last season but saw the move scuppered due to injury.
On his arrival, joint-manager Tommy Brookbanks said: "We are delighted to announce the signing of talented local lad Romello Nangle.
"The former Notts County player has been in talks with us for a while and has been recovering from injury, but finally made a start against Lincoln United [in a pre-season friendly on Wednesday night], winning the penalty and scoring.
"We feel he will blend in well with young striker Mussa Jawarra and is a good fit for the way we want to play this season."
Photo credit: Carlton Town