The Terriers looked on course for a rare away win, cruising thanks to goals from James Vaughan and Conor Coady.
The Millers, having been well below par for the majority of the game, somehow found a way back with two goals in the final three minutes of normal time to give their supporters reason to cheer.
Jonson Clarke-Harris headed in from close range before Lee Frecklington struck the equaliser with a 20-yard drive as Steve Evans’ men snatched a draw they perhaps did not deserve.
It meant the Millers remain unbeaten in five games and clear of the relegation zone, level on points with Huddersfield who are still waiting for a first win since October.
Despite their poor away record the Terriers settled well and Grant Holt had a fine chance to put them ahead in the 12th minute.
Sean Scannell broke at pace and slipped in Holt but the on-loan Wigan man prodded wide when he should have at least tested Adam Collin in the Millers net.
Vaughan did force Collin into action shortly afterwards but his shot from Harry Bunn’s cross was straight at the keeper.
Rotherham have won plaudits in recent weeks for a change of style to a more attractive brand of football, but they struggled to find their slick passing game and, despite plenty of the ball, barely troubled the Huddersfield defence.
And that allowed the visitors to take a 35th-minute lead with a fine move of their own.
Tommy Smith found Scannell and his inviting cross, which split Collin and the Millers defence, was tucked home by Vaughan from close range for his first goal in over a year.
Rotherham began the second half with a renewed vigour and twice went close to levelling, but Craig Morgan flashed a header wide and Reece James had a goalbound shot blocked.
But that was just a flash in the pan as Huddersfield doubled their lead on the hour.
Some slapdash play from Emmanuel Ledesma gave the ball away in a dangerous area and Coady emphatically headed home Oscar Gobern’s cross.
Evans’ men were all at sea and the visitors had chances to make it an afternoon to remember as they constantly looked threatening on the counter-attack.
Jacob Butterfield curled over when his side broke four on two while Bunn drove straight at Collin from a similar move.
The Millers put up a late fight when Bowery headed home from eight yards and they took a point in the 90th minute when Frecklington drove home his first of the season.