Bristol Rovers have announced the signing of Steve Mildenhall on a two-year deal.

The 35-year-old goalkeeper, whose contract with Millwall had expired, spent the second half of last season on loan to the Pirates.

Rovers chairman Nick Higgs told the club's official website: "We are delighted to have signed Steve as he really helped turn our season around last season.

"During his time with us he became a popular member of the squad, and worked hard to get us out of danger.

"I believe it is vitally important to have a permanent goalkeeper, rather then relying on loan signings, and I believe Steve will be part of a solid defence next season."

Mildenhall has previously played for Swindon Town, Yeovil Town and Notts County.