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In the second half, during a period when Rotherham went forward at will, Pilkington pulled off four dramatic saves in a ten-minute spell.
The goalkeeper said afterwards that his best was the first of the four, when he tipped round his right-hand post a splendid low effort by Millers' midfielder Mark Hudson.
One of Pilkington's best saves was to keep out - also at the expense of a corner - a great effort by Chris O'Grady, returning to the ground where he was once on loan from Leicester City and proving a constant threat.
It was surprising that O'Grady did not make more of a one-on-one situation with Pilkington just past the hour mark but he dragged his shot wide.
Notts' best attempt at a goal came shortly before Rotherham broke the deadlock.
Lawrie Dudfield produced a fine header after good work by Myles Weston which Andy Warrington tipped over for his best save of the game.
The Millers' defence was seldom troubled in the later stages despite three Notts substitutions which included two strikers, Jason Lee and Hector Sam, coming off the bench.
Notts have now lost five of their last seven League matches, scoring only twice and failing to score in three of the five.