It was the Heybridge Swifts manager who was the difference at the end as his scuffed second of the game won for the side who were threatened by relegation.
The first chance fell for Weemes and Francis as Marcus Elliott crossed into the box, but the ball was just behind the on-rushing Hopkins.
The Jammers took the lead as Cliff Akurang tapped the ball in from close range after good work from Nathan Korangteng down the Millers right hand side. 1-0 Maldon.
The Millers had the chance to level straight away as a floated ball into the box by Stavrinou was headed over the bar by Junior Baker at the back post.
From the next free-kick of the game Aveley levelled the game. Sammy Knott free kick was flicked into the goal by Lee Weemes and somehow from the near post it squeezed through the keeper. 1-1.
The Millers then had a spot kick as Weemes was taken down bearing on goal. Sammy Knott was given responsibility to take the spot kick but it was saved well by the Maldon keeper.
Aveley had chances in the second half as Sammy Knott, Elliott and Ogedji-Uzokwe missed from close range.
It was the 23rd placed side who snatched all three points with six minutes remaining. A long ball by Jack Stevenson landed at the feet of Akurang who scuffed his shot which bobbled into the bottom corner of the net. 2-1 Maldon & Tiptree.
Millers X11- Marrable, Preston, Knott, Baker, Harrison, Hopkins, Elliott (Hursit), Holland (C) (Nesbitt), Weemes, Stavrinou, Francis (Ogedji-Uzokwe).
Unused Subs- Sendall, Essuman.