Free agent forward Elijah Millsap has signed a non-guaranteed deal to attend training camp with the Milwaukee Bucks, his agent Daniel Hazan told RealGM.

Millsap, the younger brother of NBA All-Star Paul Millsap, had an impressive stint with the Philadelphia 76ers’ entry in the NBA's July summer league — averaging 11 points, 4.4 rebounds and 2.8 steals per game.

Millsap, 27, finished his collegiate career as a junior at the University of Alabama at Birmingham, and went undrafted in 2010.

The 6-foot-6 swingman previously signed two NBA contracts, with the Oklahoma City Thunder in 2010 and Los Angeles Lakers in 2011, but has played most of the past four seasons in the NBA D-League.