They placed linebacker Fred Strickland on injured reserve and released safety Toby Wright.
McMillian, 29, started the year with the San Francisco 49ers and played in six games before he was released Oct. 19.
An eight-year veteran, McMillian returned three interceptions for touchdowns in 1997 when he was with Kansas City.
Francis, 31, was released by Cincinnati during training camp this year.
At the end of Week 7, the Redskins' defense was giving up an average of 393.3 yards per game. The Browns' defense was yielding 405.9 yards a game.
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