Miller, America's last four-star commander to serve on the ground in Afghanistan, on Monday climbed aboard a helicopter and lifted off from the military base in Kabul that long had been the nerve center for the two-decade-old war effort.
On Wednesday, he arrived at Joint Base Andrews in Maryland.
Since taking command nearly three years ago, Miller, 60, spent more time on the ground than any of the previous generals to command the war.
He had a close call in 2018 when a rogue Afghan bodyguard in Kandahar province opened fire and killed a powerful Afghan police chief standing near him. A U.S. brigadier general was wounded, as were other Americans, but Miller emerged unscathed.
Following Miller's departure for the United States, the Pentagon has engineered a transition that will allow a series of generals to carry on with supporting Afghan security forces, albeit mostly from overseas.
President Joe Biden has set a formal end to the U.S. military mission for Aug. 31 as he looks to disengage from a conflict triggered by al Qaeda's attacks on the United States on Sept. 11, 2001.