Aftrer taking a two nil lead through Adam Le Fondre's goals, the Millers saw Nick Fenton sent off in the second half and then capitulated.
In a very poor first half, it was Burton who did most of the running, dominating the midfield area and looking sharp to the second ball.
Hot shot Le Fondre was first to test the Brewers 'keeper Shane Redmond with a looping header, but much travelled forward Steve Kabba responded at the other end with a snap shot, turned wide by Andy Warrington.
The game came to life in the final ten minutes of the first half, as Kevin Ellison fed Le Fondre who's shot was blocked by Redmond. The rebound fell to Nicky Law who's shot was deflected out of the box, leading to unsuccessful handball appeals from the home crowd.
Two minutes later though Le Fondre gave the Millers the lead, smashing in a spot kick after handball in the Burton 18 yard box.
After the break the Millers had their best period of the 90 minutes, as Adam Rundle saw the first of three efforts at goal blocked and livewire Le Fondre saw an almost inch perfect lob bounce off the top of the bar.
Gary Roberts was next to go close as Darren Stride cleared his goalbound effort off the line with Redmond stranded after saving Tom Pope's effort.
Le Fondre wasn't to be denied though as he grabbed his second just after the hour mark, stabbing home Rundle's low right wing cross after confusion in the Burton defence allowed the ball to run through to the near post.
Joy was shortlived though in a series of events that saw Burton grab a point.
Firstly Kabba's air shot fell to Aaron Webster in the box who cut onto his right foot and blasted the ball past Warrington.
Then, following Fenton's red card for a crude lunge on Webster with 20 minutes left, the Millers began to drop deeper and were punished with five minutes remaining.
After Keith Gilroy missed a glaring free header at the back post moments before, Greg Pearson turned on a sixpence from 15 yards and fired into the bottom corner as honours ended even.