Kioso joined Rotherham from Luton in 2022 and made a total of 25 appearances for the Yorkshire club. He was previously at Hartlepool and his career has also included spells on loan at MK Dons, Bolton and Northampton.
“We are really excited to bring a player of Peter’s ability into our team,” said Oxford boss Des Buckingham.
“Peter brings a lot of qualities. He is a player that fits into the profile we are looking for at the right-back position and he will add to the way we want to play as a team.
“Not only that, but he is also a very good character so we feel he will add to the level we currently have at the club both on and off the pitch.”
Oxford have not disclosed the length of Kioso’s contract.
Marcus Smith is using a breathing technique to enhance his goalkicking in response to the yips that struck in the first Test against New Zealand in July.Smith w
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SKY SPORTS have lost the rights to this year's Autumn International series.And that will lead to England, Scotland, Wales and Ireland rugby fans watching on a n
He continued: "We are about to build something special, and an environment and a culture and way of playing that is exciting, so people want to be here. "And pe