Miller, who will take up the post in July 2014, has been an associate director of the Sheffield Crucible since 2009, with Hamlet starring John Simm, True West by Sam Sheppard and Wonderful Tennessee by Brian Friel being some of his directorial highlights.
Chair of the board Caroline Smith said, "The Orange Tree Theatre is very lucky to have secured the services of Paul Miller as artistic director. He has an enviable track record as a director and whilst he is fully committed to respect the legacy Sam Walters is leaving behind, he has very exciting ideas of his own; ideas which will secure the Orange Tree Theatre's future as part of the London scene."
Sam Walters commented, "I am delighted that Paul Miller is taking over from me. I wish him all the very best and know that he will find our audiences as committed, supportive and demanding as I have."
Speaking of his appointment, Miller added "I am thrilled and honoured to succeed Sam Walters at the Orange Tree Theatre. Sam has created a very special place: an intimate in-the-round space where new plays and neglected treasures shed light on each other. It's a privilege to take his vision forward and I can't wait to start putting the new and the rare together in the Orange Tree Theatre's unique way."
Walters, who founded the Richmond venue in 1971, has also announced the remainder of his final season, with the UK premiere of It Just Stopped by Stephen Sewell running from 5 February to 8 March, Invincible by Torben Betts running from 12 March to 12 April and The School for Scheming running from 16 April to 17 May 2014.