Eunan O'Kane put the hosts in front in the first half, firing in after Tom Newey could only half clear Chris Zebroski's goal-bound effort with his head.
After the break Gulls keeper Danny Potter saved superbly from Le Fondre's spot kick after Marcus Marshall was brought down in the area by Chris Robertson, with Rotherham dominating.
And after Marshall and Le Fondre had each struck the bar, Ryan Taylor equalised for the Millers after sustained pressure when he neatly turned Robertson to fire in on the turn left footed.
The Millers frontman almost won it in the final stages as his stabbed shot was parried onto the foot of the post as both teams settled for a point.