Losing finish to season for Stags reserves
A strong Stags side included James Baxendale, Jamie McGuire, Lee Collins, Ashley Hemmings, CJ Hamilton, Pat Hoban and Yoann Arquin.
Hamilton and Hoban both came close before a trialist gave the Millers a 35th minute lead after some lovely individual skill.
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Hide AdHamilton went through one-on-one on 54 minutes only to see the keeper save while on 73 minutes Hoban sent a header over from eight yards.
On 80 minutes Hoban also saw a goal-bound volley tipped over by Fidler as Mansfield continued to dominate.
But, after Hoban had headed another chance over from a Hemmings free kick, Rotherham sealed the game with just six minutes to go as Darnelle Bailey-King beat the offside trap to slot the ball beyond Wilson.