Ipswich manager Joe Royle said after the game: "At 4-1 it was a chance to improve our goal difference. If Rotherham had played like that all season, they wouldn't be going down.
"As usual, we pressed the self-destruct button. We gave the ball away where we shouldn't have done. We shouldn't be hanging on at home, but several key members of the team switched off.
"They had a right good go at us, but three points at the end of the match is what is most important. I was delighted with the result, as we are now second, but with a hard away game coming up (at Wolves).
"I was not happy at half-time. We were sloppy, negligent, and the goal conceded was like Sunday morning stuff. We should be above that.
"Their front men were lively and gave us trouble like other teams haven't. Although we had scored two good goals after half-time, they kept playing so all credit to them."
Rotherham caretaker boss Alan Knill said: "Ipswich are a top team, who provide good entertainment. If you are a neutral, you want to see football like that.
"We showed courage when we went forward, and I thought we were unlucky not to get a point.
"I have got to be disappointed but I can see positives. I have a squad of players more than capable of coming back to this division. I was proud of them, there is ability and talent there.
"At 4-1, I wanted the ref to hurry up and blow the whistle, as they could have got six, but the players kept on going. They showed belief to come back once we got it to 4-2. The future is bright for next season."