The Jets selected Milliner with the ninth overall pick in the 2013 Draft, but he has struggled for form and fitness in his two seasons with the AFC East club as an Achilles injury ruled him out for the majority of the 2014 campaign.
"When you look at Dee coming in, you see a guy still kind of working off of an injury, trying to get himself to 100%," Rodgers told reporters.
"But as we looked at him, we expect Dee to compete for a position on the roster like everyone else. This was a top-10 pick, and we think he has a lot of ability and we expect him to compete.
"It's going to be some tough decisions. It's a lot of good football players on the back end."
Milliner has recorded 62 tackles and three interceptions in his two seasons in the NFL.