Residents at Broadacres Care Home, on Naylor Street, were delighted to greet the League One footballer and take photos.
Many of those who live at the home are lifelong Millers fans and shared stories with Joe as he spent time chatting with them.
The visit was organised as part of a Rotherham United Community Sports Trust tour around the community.
Liz Jones, customer relations officer for the Hill Care Group, which operates Broadacres Care Home, said: “The residents were thrilled to meet Joe and we can’t thank him enough for dropping by and brightening up their day.
“Many of those residing with us have been Rotherham United fans for their entire lives, so meeting one of the team’s star players was a real thrill.”