Bennett is a 19-year-old left-sided defender who started his career in the Burton Albion academy and played a number of times for the Brewers reserves side.
He is a versatile player who can play as a defensive wing back or just behind the strikers.
Bennett had a brief trial spell with Boston United whilst at the Pirelli Stadium but opted for a permanent move closer to his Nottingham home at Carlton Town, signing for the Millers in August 2013 and making 46 appearances last season.