F-T: Rotherham United 1 QPR 0
Izzy Brown's goal separated the two sides to give interim manager Paul Warne his first victory in only his second match at the helm.
New York was a hotbed throughout the second half as fans responded to the new regime of Warne and John Breckin and a totally committed Millers performance.
It's the first time Rotherham have secured three points since the August 20 triumph over Brentford.
In an entertaining first half, the division's bottom club had already gone close through Lee Frecklington's shot and Danny Ward's header before Brown fired them into a 24th-minute lead.
Brown played the ball into Ward and the striker's lovely touch released the teenager to run on and shoot past Alex Smithies.
The Millers, looking to avoid a club-record sixth successive home defeat, were full of battle and spirit against Ian Holloway's visitors.
Conor Washington's early curler for QPR brought a brilliant save from Lewis Price who was at his best again after the goal to keep out Tjaronn Chery's shot.
Rotherham continued in the same vein after the break, harrying QPR to distraction, and should have gone further ahead.
Frecklington's 60th-minute header was saved by Smithies, Ward shot just wide from a tight angle in the 74th minute and five minutes later Joe Newell produced one of the misses of the season.
He simply had to score after Ward's fierce shot crashed back off the woodwork but somehow put his effort over an empty goal.
All QPR had to show for their endeavours was a long-range free-kick from Chery which Price tipped over in the 54th minute.
Warned handed centre-half Aimen Belaid his first action of the season, dropping Dominic Ball to the bench, and there was a welcome midfield return after a five-match absence with an ankle injury for captain Frecklington.
Newell, who did well as a substitute against Burton Albion last week, started at the expense of Jon Taylor.
Warne and his men were giving a standing ovation when referee Jeremy Simpson blew his whistle after five tense minutes of time added on.
Rotherham United (4-4-1-1): Price; Fisher, Belaid, Wood, Mattock; Forde, Adeyemi (Vaulks 85), Frecklington, Newell (Kelly 90+2); Brown (Taylor 85). Subs not used: Bilboe, Ball, Blackstock, Yates.
QPR (4-5-1): Smithies; Onuoha, Hall, Lynch, Bidwell; Chery (Wszolek 89), Luongo, Cousins, Sandro (Gladwin 72), Ngbakato (Polter, 59); Washington. Subs not used: Ingram, Khayati, Henry, Shodipo.
Goals: Brown 24 (Rotherham).
Referee: Jeremy Simpson (Lancashire).
Attendance: 8,704 (872).