Hull was competing against three the other three shortlisted cities: Dundee, Leicester and Swansea Bay.
The UK City of Culture first started in 2010 with Derry-Londonderry chosen as UK City of Culture for 2013.
Miller said: "This is brilliant news for Hull and everyone involved in the bid there. This year’s UK City of Culture, Derry-Londonderry, demonstrates the huge benefits that the title brings.
"These include encouraging economic growth, inspiring social change and bringing communities together. It can produce a wonderful mix of inward investment, and civic pride and I hope Hull’s plans will make the most of all that being UK City of Culture can bring."
Stephen Brady, leader of Hull City Council, said: "Winning the title today is a real game-changer for Hull. It will give Hull a platform to tell the world what this great city has to offer, transform perceptions and accelerate our journey to make Hull prime visitor destination. Hull should be proud of what it has achieved together."