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Striker Jonathan Forte, on loan from Sheffield United, crashed down in the area under a challenge from Ben Clark but the appeals were waved away.
Hartlepool bounced back after their week of turmoil that saw manager Martin Scott suspended following a dressing room bust up at half-time during last week's home defeat by Blackpool.
Youth coach Paul Stephenson was in charge and his side, without a win in nine matches, came close to grabbing the first-half advantage.
Steve Turnbull was just wide with a sixth minute shot from long range and Rotherham keeper Gary Montgomery had to finger-tip over a cross form the left aimed by Richie Humphreys.
The home side had to survive again when a cross from Michael Maidens was headed goalwards by Jon Daly but Paul McLaren cleared off the line.
Rotherham opened up Hartlepool on the break but Paul Shaw headed a McLaren corner wide and John Mullin was wayward with a shot from 20 yards.
Rotherham were denied the lead early in second half when striker Hoskins saw his header cleared off the line following a corner.
But two close calls inside a minute could have given the visitors the edge. Montgomery had to stretch to turn over a downward header from Anthony Sweeney that almost bounced in and then Sweeney headed into the six-yard box and Eifion Williams headed wide.
And in the 65th minute he went crashing down in the area as Clark made a desperate challenge but the referee dismissed strong claims for the penalty.