A brilliant solo goal from Jermaine Beckford fired Scunthorpe back to the top of League One. He struck the only goal of the game in the 17th minute when he found the back of the net with a cracking shot from the edge of the penalty area.
Scunthorpe keeper Joe Murphy saved a 67th-minute penalty from Eugene Bopp.
A serious injury to Scunthorpe's Cliff Byrne resulted in nine minutes of stoppage time wherein Martin Woods was denied an equaliser by the post.
Scunthorpe: Murphy, Byrne (Mulligan 89), Crosby, Foster, Ridley, Taylor (Morris 77), Goodwin, Hinds, Hurst (MacKenzie 77), Sharp, Beckford.
Subs Not Used: Lillis, Butler.
Goals: Beckford 17.
Rotherham: Cutler (Montgomery 45), Worrell (Facey 86), Fleming, Sharps, Brogan, Partridge, Cochrane, Bopp, Woods, O'Grady, Henderson.
Subs Not Used: Streete, Newsham, Mills.
Booked: Sharps, Partridge.
Att: 5,978
Ref: A Hall (W Midlands).