Millen signed off in his caretaker's role with victory at Hull City.
While names such as Aitor Karanka and Dan Petrescu floated in and out of vogue, Millen argued that a man with Pulis' Premier League grounding would be invaluable.
"What I thought was needed was someone with experience at this level because the club haven't got a lot of that," he said.
"For me, Tony was top of the list and I'm delighted he's on board. I'm sure he'll be pleased to see the team here and see their commitment to the club. It gives them something to work with."
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