Gillingham down as Hartlepool survive
Swindon will meet Charlton in the play-offs after the Addicks'
2-0 win at Oldham, goals from Nicky Bailey and Miguel Angel Llera securing fourth place.
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Hide AdSwindon took a third-minute lead against Millwall through Daniel Ward, but Steve Morison's penalty (14mins) and Gordon Greer's own goal (62) saw the Lions in control.
Millwall netted a third when Morison struck his second after 73 minutes before Billy Paynter's strike set up a tense finale.
At the other end of the table, Gillingham joined Stockport, Southend and Wycombe in being relegated to League Two after a 3-0 loss to the latter.
Tranmere, who were in the drop zone at the start of the day, claimed a 3-0 win at Stockport.
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Hide AdHartlepool, who last week were docked three points for fielding an ineligible player, survived after earning a point in the goalless draw at Brentford, Gillingham's woeful goal difference sending them down.
Champions Norwich lost 2-0 at home to Carlisle, Brighton beat Yeovil 1-0 and Colchester defeated Leyton Orient by the same scoreline after Kevin Lisbie converted a stoppage-time penalty following Luke Ashworth's dismissal.
Southampton defeated Southend 3-1 with two goals in the final five minutes securing victory and Walsall beat
MK Dons 2-1.