There was a distinct lack of clear-cut chances although Derby's Craig Bryson squandered the best as he placed a shot wide from six yards after Millwall goalkeeper David Forde palmed Jamie Ward's effort straight into his path.
The Lions have only won once in the league since Boxing Day and remain close to the relegation places following a low quality affair against midtable Derby with only three efforts hitting the target throughout the entire 90 minutes.
Despite their poor run of league form, the home side seemed to take belief from their FA Cup exploits at Southampton and looked assured on the ball for large portions of the first half.
Derby, who took a while to get going, had a chance halfway through the first period when a defensive mix-up let Callum Ball through on goal but he shot across the goal mouth.
Millwall played the ball around midfield very confidently but could not create many chances although captain Paul Robinson, back in the starting line-up after the FA Cup win over Southampton, headed a corner just wide after 28 minutes.
Then came Bryson's miss which was met with ironic cheers from the Millwall fans in the Cold Blow Lane end.
Derby again had the Lions' defence stretched just before half-time when Nathan Dyer broke forward after a poor attacking free-kick from Millwall.
The former Nottingham Forest forward powered over the halfway line before being brought down by Josh Wright who was booked by referee Oliver Langford.
The second half started slowly as neither team could show enough quality to break the deadlock.
The home side almost took the lead after a 54th-minute goalmouth scramble but the ball would not fall to Liam Trotter after Darius Henderson's initial effort.
That chance seemed to breath new life into the game but both sides continued to be wasteful in possession.
Andy Keogh was introduced by Millwall manager Kenny Jackett in the 66th minute for his home debut as he looked to give his side a greater attacking edge.
The hosts had a number of corners without posing to much danger but Trotter managed to rise above the defence in the 69th minute only to head wide of Frank Fielding's right post.
Keogh's first involvement was to flick on a free-kick to strike partner Henderson whose own header was deflected behind but he could not make a decisive contribution as the match fizzled out.