The collection comprises issues #16, #19, #22 and #23 of the all-ages title, which is based on the Superman: The Animated Series cartoon show.
Millar said: "I'm really glad they collected this because I'd say this is the series where I found my feet.
"People think Authority is where everything first clicked for me because it was my first hit, but I had 19 months of nobody reading but having a good time on Superman Adventures before it."
Millar is currently focusing on his creator-owned 'Millarworld' titles, such as Supercrooks and the Kick-Ass series.
> Read our recent interview with Mark Millar
DC Comics Presents Superman Adventures #1 is available in stores now.