After falling behind to Ben Gibson's early header, the Millers came back from a goal down in a lively first half to lead through O'Connor's penalty and a well taken goal from Revell with his left foot.
Boro pulled level before the break when Faris Haroun rounded Adam Collin and tapped home, before sub Lukas Jutkiewicz added a debatable third after the break, as he appeared to be a few yards offside.
The Millers had other notable displays from Kieran Agard and Ben Pringle, whilst David Worrall was taken off but only as a precaution, with assistant boss Paul Raynor saying afterwards that an injury he picked up isn't too serious.
For a full report visit themillers.co.uk.
Team Collin, Brindley (Bradley 66), Morgan, Skarz, Arnason (Tidser 58), Davis, Worrall (Agard 34), O’Connor (Noble 58), Milsom (Rose 66), Pringle, Revell (Hylton (82).Crowd: 2,143 (271)