The 37 year old has decided to hang up his boots after making 480 appearances in English football, scoring 147 goals.
The Trinidad & Tobago striker was with Rovers for two years between 2002-2004 and scored 19 goals.
"While I'm still in great shape, I'm not getting any younger. I've had the time of my life," said Yorke.
"I hope people will say that I played the game in the right way with a smile on my face.
"I've been blessed really. I've played alongside some of the greatest players the Premier League has ever seen in Roy Keane, Paul Scholes, Ryan Giggs, David Beckham, Peter Schmeichel, and played for the greatest manager in Sir Alex Ferguson.
"I'll always count myself lucky. I was a boy on a beach from a little Caribbean island that got the chance to fulfil his dream of winning trophies at the highest level and captaining his country in their first ever World Cup finals."