Shaun Harrad secured a draw for Rotherham and ensured that his former club Burton are now without a win in eight games.
Calvin Zola gave the hosts the lead when he turned in John McGrath's free-kick at the far post.
Harrad bundled Sam Wood's low corner over the line to equalise for the Millers after the break.
Zola wasted a chance to snatch the points when he hit the side netting after rounding keeper Rhys Taylor.
VIEWS FROM THE DRESSING ROOM
Burton Albion boss Paul Peschisolido told BBC Radio Derby:
"I thought the first half we were dominant, we were excellent, we played some lovely football.
"They've had a corner kick that we should have dealt with ... Calvin's [Zola] swung and missed the ball near post, you've got to defend better than that.
"A games 90 minutes long .... you can't fall asleep for even a second."
Rotherham United manager Andy Scott tells BBC Radio Sheffield:
"We didn't play at the tempo we usually have been in the first half.
"We got drawn into possibly the way that Burton play, they (tried to) slow the game playing out from the back. In fact they never managed to do that because we were organised.
"I don't really think they deserved to be ahead at half time and we didn't either, we didn't create any chances.
"We started being lethargic on he ball and when there was space in front of us we took time to drive into it rather than when we look at the way we play on Tuesday."
Burton Albion 23 Atkins 02 Driver 04 Stanton 15 Austin 20 Blanchett 06 McGrath 19 Maghoma (Palmer - 70' ) 22 Dyer Booked (Taylor - 67' ) 26 Bolder 10 Zola 21 Gurrieri (Kee - 60' ) Substitutes 05 James 11 Palmer 13 Taylor 09 Richards 29 Kee Rotherham United 01 Taylor 17 Mullins 25 Griffiths 27 Naylor (Cresswell - 84' ) 04 Harrison Booked 08 Taylor 15 Bradley 26 Wood 28 Cadogan (Grabban - 68' ) 09 Revell Booked 10 Harrad Substitutes 21 Warrington 02 Tonge 05 Cresswell 18 Pringle 23 Grabban
Ref: Geoff Eltrigham