The home side attacked from the off but couldn't find a way through Torquay's stubborn defence.
First, Ben Pringle had a shot blocked, before Alex Revell shot just wide and Gareth Evans' shot was too hot for Robert Olejnik to hold.
Then Revell smacked a shot against the woodwork and Michael Raynes' header from an Evans corner was saved by Olejnik.
In contrast, the visitors went ahead with almost their first foray into Rotherham territory.
With 26 minutes played, Kevin Nicholson whipped in a cross from the left flank and Lee Mansell met it with a bullet header that gave Rhys Taylor no chance.
Olejnik repelled Evans' powerful shot early in the second half before hanging on to a header from the same player.
And Torquay had Olejnik to thank once again after 62 minutes when he saved a powerful drive from Lewis Grabban, but despite all Rotherham's efforts, Torquay's defensive wall held.
Source: PA