Rotherham made it three straight wins for the first time since August with early goals in both halves.
Reuben Reid opened the scoring on five minutes before Notts County midfielder John Thompson missed two chances to equalise in three minutes.
County were punished after the restart when Mitch Hanson's mistake let in Mark Hudson to set up Drewe Broughton.
And minutes later the visitors made sure of victory when Michael Cummins found the top corner from 20 yards.
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Goals: Reid 5, Broughton 47, Cummins 52.
Att: 6,686
Ref: Mike Dean (Wirral).
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