Barnet, heading in to the game off the back of four defeats, took the lead when Mark Byrne's free-kick on the left side of the penalty area eluded everyone and found the back of the net.
Still chasing a play-off spot, the Millers threw on Pringle at the break and he made an instant impact with the equaliser before Barnet saw Paul Downing dismissed for a second yellow card.
After just seven minutes, Byrne's free-kick flew past Millers goalkeeper Rhys Taylor.
Bristol Rovers loanee Scott McGleish, returning to the Bees after leaving 11 years ago, nearly scored just before half-time but could not meet Ricky Holmes' low cross.
Pringle equalised in the 50th minute, collecting a loose ball in the box and shooting low past keeper Liam O'Brien.
Barnet saw Downing sent off after he brought down Millers substitute Paul Warne in the 65th minute as both sides had to settle for a draw.
Michael Raynes missed the best chance to win it at the death but headed wide from close range.
Source: DSG