The Bucs said Tuesday that Millard and Grady Stretz will serve as co-defensive line coaches. Tyrone Pettaway was hired as defensive quality control coach.
Millard set a NFL single-season record for sacks by a defensive tackle with 18 in 1989. He has been an assistant coach in the NFL with Denver and Oakland.
Stretz was the defensive line coach at Arizona State the past five seasons. Pettaway was a defensive assistant at Southern California last year.