Evans said that he was happy to be working with a chairman in Tony Stewart who has ambitions to succeed in the Championship, and is looking forward to his first experience of the English second tier.
"It's not just reward for myself, but for the staff, and for everyone at Rotherham United," he told the club's official Twitter feed. "The chairman is an ambitious man who spoke about Championship football and put this plan in place which gives everyone a chance.
"We've worked hard in the last two years, but this division is tough. We won't change how we do our business as a club though. We want a young hungry team, not people coming here for a last payday.
"It's exciting [to be in the Championship]. I've never managed there but we're all looking forward to it."
Evans has previously managed Crawley Town and Boston United.