The Millers were big pre-season favourites to go up after just missing out on promotion last term, but they have endured a stuttering start to the term and sit in fifth position.
But with more than half of the campaign remaining, Minto, who made 60 appearances for the Millers between 2003 and 2006, believes Ronnie Moore's men have enough quality in the squad.
"It didnt quite happen with the play-offs last season so fingers crossed they can get into the top three and go straight up," Minto told Press Association Sport.
"I think the teams who can be the most consistent will be at the top.
"Rotherham definitely have one of the best teams and I think they can get up to League One which I think would suit them."
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