Joel Grant gave the hosts an early lead when he outpaced Millers' Dale Tonge to convert Dean Morgan's low delivery.
But Daniel Nardiello headed in Liam Ridehalgh's cross and volleyed home Ben Pringle's pass to put Rotherham ahead.
However, Doherty, playing for the first time since 3 November, made it 2-2 with a header from Sam Wood's corner.
Rotherham, who are now fifth and three points behind third-placed Port Vale, had a late chance to win it but Wycombe goalkeeper Jordan Archer saved sub Kayode Odejayi's header.
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