Moore has been in charge at Millmoor since May 1997

Moore and the board of directors failed to agree a severance deal on Friday but chairman Peter Ruchniewicz said: "We've agreed an amicable parting of the ways.

"We are all relieved to have patched up our differences. It would have been awful to have parted on a sour note."

Alan Knill, the reserve and youth-team coach, has been appointed caretaker boss until the end of the season with Mark Robins named as his assistant.

Moore said he agreed that it was time for him to quit the South Yorkshire club.

"The Millers will always have a place in my heart," he said.

"I agree, however, that it is in the best interests of the club to make a change now.

"The club has a good set of lads and I wish them well in the fight against relegation which they are more than capable of avoiding."

He took them as far as he could I feel, had a good crack at it and time for a change From FT Have your say on 606

The exit of Moore, who turned 52 on Saturday, is likely to have been influenced by Rotherham's poor league form recently.

He took charge at Millmoor in May 1997 and steered the club to two successive promotions.

But the Millers are currently 12 points adrift of safety, with just three wins in the Championship this season, and seem destined to be playing in League One next season.