There were heroic performances all round as they battled with 10 men for half an hour to move five points clear of safety.
Here's how the players rated in an amazing game.
Lee Camp 8 - Camp again proved that his shot-stopping is as good as anyone in the division with a string of saves to keep his side in it.
Stephen Kelly 8 - Part of a heroic four-man defence, Kelly was solid throughout and put in his fair share of vital blocks and tackles.
Kirk Broadfoot 7 - Got over a few dodgy moments to lead the Millers defence.
Lloyd Doyley 7 - A reliable Championship defender, coped well with the pace of Antenucci and marshalled the troops in the latter stages.
Joe Mattock 8 - A delicious assist for Frecklington's goal and defended superbly, never more so than with a goal-saving block off Stuart Dallas.
Greg Halford 8 - Well, well, well. Again imperious in the holding midfield role, Halford was the coolest customer in Rotherham when he struck that penalty in.
Grant Ward 7 - Still not sure when to release the ball, but his legs are important on the right of midfield.
Lee Frecklington 9 - What a hero. Always produces the goods when needed, Frecklington scored one and won the penalty for the other.
Richie Smallwood 6 - A rare off day for the midfielder, who looked leggy throughout and failed to make an impact.
Matt Derbyshire 6 - Harshly sent off on first-look, the striker had toiled well out of position up until his red.
Leon Best 7 - Endured a tough afternoon against Sol Bamba but some fine hold-up play set up the first goal.
Danny Ward 7 - His task was made harder after coming on with 10 men but played a vital role in the wnning goal.
Joe Newell 6 - Had little to do, but was part of the side that held on in the final six minutes.
Frazer Richardson 7 - Came on at the death and produced some good defending to snuff out danger.
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