Kayode Odejayi scored the first of two Millers' goals in two minutes when he drove home a low shot (60) with Lee Frecklington volleying home shortly after.
Rovers pulled one back when Joe Anyinsah drilled home (81) but it was not enough.
Aldershot moved out of the relegation zone with a 1-0 win over Torquay thanks to Troy Brown's late goal.
The game appeared to be heading for a goalless draw but Brown headed home seven minutes from time to move the Shots to within one place and three points of tonight's opponents.
AFC Wimbledon were also poised to move out of the bottom two only to be pegged back for a 1-1 home draw with Northampton.
Alan Bennett headed the hosts in front (28) but Neil Sullivan's foul on Roy O'Donovan saw the Cobblers awarded a penalty with 14 minutes remaining.
Adebayo Akinfenwa placed the spot-kick into the bottom left-hand corner to earn a point for his side.