John Grant grabbed a brace as Aldershot secured only their third away win of the season at Rotherham.
The visitors took the lead when Lewis Chalmers' long throw found Grant six yards out to turn the ball in.
The home defence was again caught napping when Grant rose unchallenged to head home a Scott Davies corner.
Substitute Jamie Clarke stepped inside his marker to nod home a Micky Cummins cross as Rotherham pulled a goal back late on but it was only a consolation.
Rotherham:
Warrington, Tonge, Sharps, Fenton, Green, Reid, Cummins, Danny Harrison (Mills 84), Hudson, Ryan Taylor, Burchill (Clarke 68). Subs Not Used: Cann, Jason Taylor, Joseph.
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