The 31-year-old defender has agreed to rejoin Rotherham from next season, but admitted it was a tough decision to turn his back on the League One-bound Shrews.
He told Town's official website: "I've loved every minute of it from the moment I arrived through to finishing with promotion. I don't think you realise how much you're going to miss it until you leave.
"The first season was a stepping stone to get to where we wanted to be and last season was just a great one to be part of.
"It was a sad day when I went in on Monday to say my goodbyes, but I shook hands with everyone and I wish Shrewsbury all the success they can have."
Sharps is also looking forward to playing in the Millers' new stadium, adding: "It reminds me of when I first signed for Shrewsbury. The manager and chairman are very ambitious."
