The former Rovers goalkeeper will become a member of Phil Brown’s first-team backroom staff.
Mildenhall, who originally joined Rovers on loan back in December 2012, before joining permanently in May 2013, made over one-hundred-and-twenty first-team appearances for the Club.
Last season, Mildenhall took up the role of goalkeeper coach with the Club’s Development Squad upon his retirement – assisting Chris Hargreaves and Brian Dutton.
The Club would like to thank Steve for all his service and wish him well for the future.