Defences were on top throughout in the first period and the only real chance fell to the visitors after 35 minutes when they were awarded a penalty.
Pablo Mills earned himself a booking for his trip on Luke Guttridge but Ryan Gilligan’s spot-kick was too close to goalkeeper Andy Warrington and just the right height for him to make a good save.
John Johnson brought a good save out of Andy Warrington 10 minutes after the break, but Rotherham went ahead in the 63rd minute from the second penalty of the night.
Town skipper, and last man, Craig Hinton was sent off for his challenge on Adam Le Fondre and the striker picked himself up to net his 28th of the season from the spot.
In the 76th minute Town were reduced to nine men – and Rotherham to 10 – when Danny Harrison was sent off for a wild tackle and Town’s Guttridge dismissed for his retaliation.