The 28-year-old, who signed for the Tigers in 2010, has insisted that he is relishing the prospect of competing in the Premier League once again.
"I've been waiting for four or five years to get back to the Premier League and prove that I can play at that level," Rosenior told the club's official website.
"If I can get the chance, I want to prove to everyone and also to myself that I'm good enough to play well in this league and help the club to get results. Because we've come up from the Championship, we will be viewed as underdogs but I think we can use that to our advantage.
"Having the opportunity to play in the Premier League again is one that I want to take and I'm very much looking forward to it."
Rosenior made 36 appearances for Hull last season.