The actor played DI Richard Poole in the first two seasons of the Caribbean-set mystery drama, before bowing out in a shocking storyline that saw the detective himself become a murder victim.
Miller has found further sleuthing success as the title character in ITV's Professor T, but told Radio Times that he would still like another shot at the late DI Poole.
The difficult timing concerned his then-imminent fatherhood, which made long stretches spent away from home an impossibility.
He continued: "But I do really miss that character. And funnily enough [Paraverse creator and writer] Rob Thorogood has carried on writing stories for Richard Poole, which is quite fun, so that's a nice way to live the character again."
View Green Video on the source websiteMiller's departure inadvertently set a template that Death in Paradise still follows to this day, with lead detectives on the drama typically staying on for a few seasons before passing the coveted gig on to the next person.
Death in Paradise is available to stream on BBC iPlayer.
Add Death in Paradise to your watchlist on the Radio Times: What to Watch app – download now for daily TV recommendations, features and more.
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