Kari Arnison opened the scoring for the visitors after 19 minutes, his low shot from the edge of the area following a weak punch by Fleetwood goalkeeper Scott Davies.
The lead would last less than two minutes, however, Curtis Obeng crossing from the right to Jon Parkin at the back post and he put the home side back on level terms.
A superb double save from Davies stopped Rotherham grabbing the lead early on in the second half, Alex Revell and substitute Gareth Evans the men denied.
In a second half peppered with a liberal serving of bookings the home side struggled to contain a Millers onslaught, Revell with the best chance to grab all three points for the visitors, Davies with another superb save low down to deny the striker.
Dean Howell's shot, following a David Ball break, was the best the home side could muster - a point hard earned for Micky Mellon's side.