Millers hit back to grab a point
A cracking 20-yard volley from Ryan Taylor 17 minutes from time cancelled out Eunan O'Kane's 17th minute opener for the home side in a 1-1 draw, with only the woodwork and a penalty save denying Ronnie Moore's men more goals.
Adam Le Fondre had a penalty brilliantly saved by Danny Potter just before the hour mark as Rotherham dominated the second half.
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Hide AdPotter also excelled to tip a Marcus Marshall effort tipped onto the crossbar and Taylor hit the inside of a post three minutes from time.
Despite the result, the Millers slipped out of the top three in League Two due to Bury's win at Shrewsbury.
Moore said: "There was a real hunger and desire about us. We certainly deserved something from the game and, really, deserved to win."
Barnet are the visitors to Don Valley Stadium on Saturday.