F-T: Rotherham United 2 Leeds United 1
The Millers, who had been leading 1-0 against Leeds United, looked to have blown their chance of adding another victory in their superb run when they were reduced to 10 men in the second half and the visitors equalised with 11 minutes remaining.
But Warnock's heroic battlers never give up, and a penalty in the 89th minute converted by Greg Halford saw them extend their recent sequence to five wins and a draw.
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Hide AdLeeds goalkeeper Marco Silvestri was sent off in the spot-kick incident, joining on the sideline Matt Derbyshire who had received a straight red for an aerial challenge on Gaetano Berardi after 61 minutes.
Rotherham's 10 men defended heroically and it took a huge slice of Leeds luck to break their resistance.
Luke Murphy's 79th-minute long shot was nothing more than speculative but it took a huge deflection to leave Lee Camp powerless.
The visitors, managed by former Rotherham boss Steve Evans, pressed for a winner, but Warnock's men refused to buckle and came storming back, with Lee Frecklington winning the penalty which sent a sold-out New York into raptures.
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Hide AdLeeds had started the Yorkshire derby the brighter of the two sides, but Rotherham worked their way into the match and had been looking the side most likely to score when Frecklington broke the deadlock in the 27th minute.
Joe Mattock crossed from the left after good work by Leon Best and the midfielder was on hand to steer home from close range.
Warnock had kept faith with the team that had won at Ipswich before the international break, which meant striker Danny Ward and left winger Jerome Thomas had to settle for places on the bench after injury.
All the fireworks came after the break, with the Millers putting more daylight between themselves and the bottom three.
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Hide AdRotherham United: (4-1-4-1): Camp; Kelly, Broadfoot, Doyley, Mattock; Halford; G Ward (Richardson 90+3), Smallwood (Newell 80), Frecklington, Derbyshire; Best (D Ward 64). Subs not used: Kenny, Wood, Thomas, Clarke-Harris.
Leeds United (4-4-2): Silvestri; Berardi (Murphy 74), Bamba, Bellusci, Taylor; Diagouraga, Bridcutt, Mowatt (Carayol 58), Cook (Dallas 58); Antenucci, Wood. Subs not used: Peacock-Farrell, Coyle, Cooper, Adeyemi.
Goals: Frecklington 27, Halford pen 89 (Rotherham); Murphy 79 (Leeds).
Sending-off: Derbyshire 61, Silvestri 89.
Referee: Kevin Friend (Leicestershire).
Attendance: 11,418 (2,311).