The hosts started brightly and it took a diving stop from Max Crocombe to deny a curling effort from Jonson Clarke-Harris.
The Millers were stung by Burton's opener, which came against the run of play in the 25th minute when Danilo Orsi latched onto Ben Whitfield's blocked shot and squeezed his effort into the bottom corner.
Rotherham's dominance paid off as they levelled in the 39th minute with Clarke-Harris bundling in from Joe Powell's clipped cross.
Burton could still have gone in at the break in front but Ryan Sweeney's volley flew inches wide.
They threatened the other side of the interval too with Udoka Godwin-Malife cutting in from the right before seeing his shot diverted wide.
The Millers went ahead in the 57th minute following a corner which pinballed around before Cameron Humphreys fired the ball into the roof of the net.
However, Burton levelled in the 71st minute when Jack Cooper-Love found space on the edge of the box and lashed into the bottom corner to secure his team a point.