The former Rotherham midfielder had a number of offers on the table, but after a chat with the Magpies boss he was left in no doubt that he wanted to go to Meadow Lane.
“I was really impressed with how he wants to play, he’s got big ambitions for this club and got them promoted,” the 28-year-old told the club’s official website.
“That’s something that appeals to me a lot, with his style of football, I think that will suit the way I like to play as well, so that was really appealing to me.”
Milsom hopes to get a lot of games under his belt after an in-and-out season with the Millers last year, but knows promotion from League Two is the ultimate goal.
“I want to play week in week out, enjoy my football and to get this club promoted,” he added.
“The club’s too big to be in this league, I believe, but we’ve got to prove this on the pitch and get promoted this season, that’s definitely my main aim.”