The Clifton Lane men trailed at 30-16 with 20 minutes left but a terrific fightback saw them notch tries from Semisi Taulava and Shane Monahan.
It was a herculean effort from Andre Bester’s side after suffering two injury blows in the first half. Rob O’Donnell – in his first start since coming back from injury – and Neale Patrick both went off within four minutes of each other at around the 20-minute mark, with Patrick taken to hospital with suspected neck injuries.
The disruption proved costly as the visitors slipped from 10-6 down to being 20-9 adrift at the break. The Titans’ first-half points had come from three Gary Law penalties, while Nottingham had tries from former England man Ayoola Erinle and David Jackson.
Rotherham’s hopes of getting back into the game were jolted when Jackson scored again within two minutes of the restart, although they did give themselves a glimmer of hope when Monahan scored from Pale Nonu’s offload to make it 27-16.
Kieran Hallett kicked a penalty to stretch the home side’s lead, but Rotherham battled back superbly in the last 10 minutes with both Taulava and Monahan going over from close range, Law adding the extras to give his side a deserved two points.