Aldershot and Rotherham's slim hopes of making the League Two play-offs were ended as the pair played out a draw.
Gareth Evans converted from the spot after being tripped by Darren Jones to give Rotherham the lead, but the hosts levelled through Peter Vincenti.
The Millers led at the interval after Sam Hoskins fired into the top corner but things were level again when Guy Madjo's header found the net.
Late on Tom Newey and Jordan Roberts both received their marching orders.
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Aldershot manager Dean Holdsworth told BBC Surrey:
"It was a fantastic game of football, and could have swung either way.
"In terms of chances created in the second half, we've done enough to win the game, but we haven't taken them.
"We were against a very good side, spurred on by a passionate manager who will have them ready for next year.
"It's a learning curve, I've put three youngsters on the pitch. The future will be bright for those players, we'll work on them, and turn them into assets for this club".
Rotherham United manager Steve Evans tells BBC Radio Sheffield:
"It was a fantastic game, two teams that tried to play the right way and I suppose we go away the more disappointed don't we.
"We've had a perfectly good goal ruled out for offside.
"I think the delay of the assistant referee's flag probably tells you that he's not so sure.
"We've dominated for an hour and we've had to defend the last few minutes heroically, but I suppose we go away the more disappointed of the two teams."