Striker Ryan Taylor (back) and midfielder Nicky Law (foot) are back from injury for the Millers and both could be making final appearances after stalling on the offer of new deals. Striker Ian Thomas-Moore has recovered from a thigh injury and goalkeeper Andy Warrington is set for a recall. Torquay include former Millers defender Guy Branston.
Ryan Taylor (10) opened scoring for Millers, before Chris Zebroski (31) equalised.
Danny Harrison (33) regained the lead for Rotherham before half-time, and Oliver Banks added a third late on.
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