Millar was stripped of the 2003 world time-trial title for using blood-booster EPO
David Millar will replace Geraint Thomas in Britain's three-man team for the road cycling World Championships.
Thomas, 24, withdrew on Thursday insisting that he had "not felt so good" since July's Tour de France.
Originally selected just for the time-trial, Millar will now assist Jeremy Hunt in trying to help Mark Cavendish win the 3 October race in Melbourne.
Welshman Thomas and Scotland's Millar will both compete for their nations at October's Commonwealth Games in Delhi.
"Following selection, Geraint was feeling tired in subsequent races and felt the road worlds were out of reach," said British Cycling performance director Dave Brailsford.
"David Millar has now been selected to ride the road race as well as the time-trial and based on his current form we believe he will work well with Jeremy to give Mark the best chance at the road worlds."
Millar expresses Olympic regrets
Thomas, who is set to compete in the Tour of Britain later in September, held the best young rider's white jersey during the first week of the 2010 Tour de France.
His participation in Australia would have clashed with track events at the 2010 Commonwealth Games, but he has now added the individual pursuit to his programme for Delhi.
Millar, 33, was stripped of the 2003 world time-trial title after admitting he used the performance-enhancing blood-booster EPO.
The 262.7 kilometre World Championship road race from Melbourne to Geelong will see Cavendish, 25, hoping to emulate Tommy Simpson.
Simpson's 1965 win is Britain's sole overall triumph in the event.
Britain were only allocated three places rather than the maximum nine, further hindering Cavendish over flat terrain that could lead to the sort of sprint finish for which the Isle of Man native is renowned.
"It definitely limits Cav's chances, only having two guys to help him," commented Thomas. "He's just got to try to hang in there.
"He can look after himself and he's got that respect in the peloton - people want to be on his wheel, rather than trying to fight him for somebody else's wheel. That's a big advantage for him."
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