Miller appeared in seven games whilst on loan, and told Town's Official Club Website: "I really enjoyed playing for Darlington and it went very well for me there.
"Darlington are pushing hard for the play-offs and there was a good atmosphere about the place, but I got a call from Steve McCall last Friday saying Ipswich wanted me back.
"I know the manager has said that he's hoping to give me a chance in the first team here and that's what I'm hoping for."