Darlington defender Tim Ryan was shown a yellow card after only five minutes as the game threatened to boil over following a series of niggling fouls committed by both sides in the early minutes of the game.
Thankfully things settled down and fellow defender Alan White flicked a near post header narrowly wide when connecting with an in-swinging free kick from Franz Burgmeier after eight minutes.
In the 17th minute Burgmeier saw his 25 yard free kick tipped over the bar by Millers keeper Andy Warrington as Darlington looked again to open their account. The breakthrough came after 22 minutes, Pawel Abbott sent over a deep cross from the right and strike partner Danny Carlton headed in his first Darlington goal from eight yards.
Rotherham looked for a quick reply and went close through Alex Rhodes who headed wide of target in the 24th minute and then Reuben Reid who fired narrowly wide of Dean Gerken's goal on the half hour mark.
Darlington came back again and Burgmeier struck a post with Warrington beaten in the 37th minute.
Darlington were reduced to ten men in the 57th minute when Hulbert was shown the red card after a challenge involving Drewe Broughton.
Rotherham captain Pablo Mills was fortunate to receive nothing more than yellow after a studs up challenge on Carlton in the 62nd minute.
As the game again threatened to boil over Millers boss Mark Robins replaced Mills three minutes later – no doubt as a precaution.
In the 75th minute Broughton fired straight at Darlington keeper Gerken and the home side were able to hold out thanks to sterling defending from Alan White and captain Steve Foster.