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The 20-year-old, once linked with a move to Liverpool, signed forms at United on Thursday night.
Miller, who spent a month on loan at the Gallagher Stadium last season, was a free agent after leaving Gills. He rejected offers from several clubs to sign for Stones, who host Met Police in their opening Ryman League, Premier Division game of the season on Saturday.
Miller was offered terms after scoring for a Stones XI in a 5-3 friendly win over Erith & Belvedere on Monday.
Stones boss Jay Saunders said: “I’ve been looking for someone with pace who can run in behind defenders, like Zac Attwood used to do and Ashley fits the bill.
“He knows he’ll struggle to make the first game but this is a good place for him to be. He wants to get back in the league and he can do it because he has all the ability in the world and you don’t lose that.
“If you’re on the verge of going to Liverpool as a 16-year-old and next thing you’re on loan in Ryman South, it’s going to mess with your head. He lost his way a bit but it’s not easy when you keep going out on loan to clubs. He just needs to settle down.”
See Friday's Kent Messenger for a three-page Stones season preview
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