Phil Woods’ spectacular first-half strike had put the hosts ahead but a young Spireites team equalised just after the interval through Cormac Noel.
After a scrappy opening to the game where both teams struggled to fashion a chance, it was Woods who popped up with the opener after 22 minutes.
The midfielder received the ball in the centre of the pitch and unleashed an unstoppable drive that dipped under the crossbar from 25-yards.
Chesterfield responded almost immediately. Noel sent a rasping drive just over the bar before Alex Hewitt drifted in at the far post but he couldn’t divert his header on target from close range.
Jonathan Wafula was next to try his luck for the visitors after surging forward from the centre circle, forcing Charlie Bryan into a comfortable save.
The Spireites took their momentum into the second-half and drew level five minutes later when Noel popped up to finish from close range.
Rotherham went close to retaking the lead when substitute Michael Williamson unleashed a shot from 25-yards which forced the ‘keeper to turn it behind for a corner.
Rotherham looked the team more likely to get a winner in the closing stages and had two good opportunities to finish their season on a high.
Nicky Walker raced to the byline but after pulling the ball back to Luke Beedham on the penalty spot, his shot lacked power and conviction.
Connor Johnson almost finished off a fine move down the left after Walker and Beedham combined to set up the full-back, but his shot was expertly pushed away to safety by Cameron Mason.
Rotherham: Bryan, Lucas, Weldon, Rowe, McKay, Hart (c), Cadman, Woods, Beedham, Watson, Walker.
Subs: Thompson, Bevins, Williamson, Travis, Johnson
Chesterfield: Barrington, Slack, McNicholas, Hewitt, Broadhead, Whittaker, Johnson. Wafula, Fereday, Waddle, Noel.
Subs: Bowland, Mason, Edridge, Mathers, Partridge.