Branston made 53 appearances for Torquay last season
Rotherham United have signed Bradford City captain Guy Branston and Notts County left-back Jon Harley on loan.
Much-travelled centre-back Branston, 32, moves to the Bantams' League Two rivals for three months and could face Bristol Rovers on Friday.
Harley, also 32, who has made just two appearances for the Magpies this season, joins the Millers for a month.
"The building of our our squad is still an ongoing process," Bradford manager Phil Parkinson
told the club website
"I also felt that at centre-back, with Steve Williams returning and Marcel Seip joining us, we have cover."
Branston, who joined Bradford
from Torquay this summer
, won back-to-back promotions to the Championship with Rotherham in the early 2000s.
He told the Rotherham United website:
"I don't believe in sitting on benches so I decided to take the opportunity to sign for Rotherham and I have got a big grin on my face. I'm very pleased."
“This is an opportunity for him to go and get the guarantee of first team football”
Branston began the season as a regular starter at Bradford, featuring in their first 11 games, but has found opportunities limited following
the arrival of Andrew Davies
on loan and
the signing of Marcel Seip
He will not be allowed to play for Rotherham in the FA Cup, or against Bradford during his loan at the Don Valley Stadium.
Parkinson added: "Obviously it is not ideal with Andrew Davies being out suspended at the moment, but the offer came in from Rotherham and we had to make the best decision for the football club.
"There are still areas I want to improve - on and off the pitch - and this deal will help us free up some more resources to help us do that.
"Guy's professionalism has been first class since I've been here - I can't fault the way he has conducted himself.
"This is an opportunity for him to go and get the guarantee of first-team football that we can't offer him at the moment."
Former Chelsea and Fulham full-back
"Rotherham have given me the chance to come and play football which is something I have been missing this season, so it was a no-brainer."