Lewis Grabban scored the only goal as Millwall moved level on points with League One leaders Scunthorpe after a fiery game which saw two men sent off.
Tempers flared in the second half when Millwall's Jimmy Abdou was sent off for a horror tackle on Clint Easton.
Hereford's Nick Chadwick soon followed suit as he picked up a second yellow card for a foul on Tresor Kandol.
The game looked set for a draw when, with less than five minutes left, Grabban lashed the ball home.
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Sent Off: Abdou (49).
Goals: Grabban 86.
Hereford: Randolph, Rose, N'Gotty, Broadhurst, Smith, Taylor, Diagouraga, Hudson-Odoi (Guinan 76), Easton (Done 89), Johnson (O'Leary 73), Chadwick. Subs Not Used: Samson, Beckwith.
Sent Off: Chadwick (62).
Booked: Rose, Chadwick, Taylor.
Att: 9,071
Ref: Keith Woolmer (Northamptonshire).
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