The 24-year-old spent two and a half seasons with the Warriors after signing in the summer of 2009. He scored two tries in seven RaboDirect PRO12 appearances, and also turned out three times in the Heineken Cup.
Head coach Sean Lineen told www.glasgowwarriors.org: “I’d like to thank Dave for his contribution over the past couple of years. He’s been unlucky with injury and needs a run of games to get back in the groove.
“We’re not in a position to offer him that at this stage, and I’m delighted he’s been given this opportunity by Rotherham. On behalf of all the coaches and players at the club, I’d like to wish Dave every success for the future.”