Miller, 20, spent six seasons at Lincoln City before moving to Barnsley. The central defender then had spells at npower League 2 sides Accrington Stanley and more recently Hereford United up to the end of last season.
His signature follows two solid performances in the first two pre-season friendlies at Sleaford Town & Rainworth Miners Welfare.
Manager Jason Lee said: "Kern is another good young centre half. Ideally we could do with a more experienced presence in the middle of defence, but as things stand we now have three good young central defenders who can put pressure on each other for places in the team.
"Kern has a lot of potential. He is a strong, physical player and someone who is a good athlete. We are pleased to have him on board."