Miller, 33, played 11 seasons in Pittsburgh after being selected No. 30 overall in the 2005 NFL Draft. He scored 45 career touchdowns, while starting 167 of 168 career games for the Steelers.
"Heath Miller informed us earlier today of his decision to retire after an exceptional 11-year career in Pittsburgh," Steelers President Art Rooney II told the team website. "Since he was drafted in the first round in 2005, Heath has been an amazing player on the field and an outstanding contributor in our community. On behalf of the entire Steelers organization and Steelers Nation around the world, I would like to congratulate and thank Heath of his many contributions to the Steelers."
"The chants of "HEEATH" will be missed at Heinz Field and around the entire NFL," Rooney said. "Heath is the most accomplished tight end in team history and his efforts will not soon be forgotten. We wish his entire family the best in his retirement, and we thank them for being part of the Steelers for 11 great years."
Last season, Miller had 60 receptions for 535 yards and tow touchdowns. He was a member of the Steelers' 2005 and 2008 Super Bowl champion squads.
"Heath Miller was as great a combination of character and football player as I have ever been around," Steelers coach Mike Tomlin said. "Heath helped us win many games, including two Super Bowl Championships, while also being an important part of our community. We want to thank Heath for his contributions and wish he, Katie and the kids nothing but the best."
In 2013, Miller signed a three-year, $14.02 million deal. The Virginia product was set to make $4 million next season.