Rotherham stretched their impressive unbeaten run to six matches as George Burley's stubborn Derby side kept them at bay.
Rotherham, looking for their fourth win in a row, could have secured all three points but for the heroics of Derby keeper Lee Grant and defenders Dave Walton and Youl Mawene.
They could have edged in front after just five minutes gone when Paul Warne was hovering outside the box to strike Shaun Barker's half-cleared free kick on the half volley but his effort was just wide.
But three minutes later Grant made his first crucial reaction save when skipper Martin McIntosh headed goalwards from Barker's long throw.
And when a super move involving Chris Sedgwick and Darren Byfield opened up Derby only a timely challenge from Walton stopped John Mullin as he charged down on goal.
Grant saved Derby again with a fine save when McIntosh curled a goalbound free kick after Byfield was brought down 25 yards out.
Dangerman Byfield whipped in a right-wing cross but Martin Butler headed wide under pressure and when Byfield glanced a clever header from Carl Robinson's cross, Walton was on hand to block.
Derby's best early chance came after 23 minutes when Barker slipped and allowed Luciano Zavagno to find Candido Costa with a long accurate ball but Mullin stepped in with a terrific tackle.
Rotherham suffered a body blow seconds before half time when McIntosh was stretchered off with damaged ankle ligaments after a clash with Ian Taylor and was replaced in the second half by former West Ham star Scott Minto.
When Rotherham broke out Byfield angled a fierce drive but Grant had no problem at the near post.
Grant leapt for a high ball into the Derby box but dropped the ball and Chris Swailes fired in a shot that was cleared by Mawene.
Mawene then diverted a late Byfield shot wide before producing his third stop in a row when Barker looked certain to score with Grant beaten.