An entertaining start saw Howarth put the hosts ahead after 10 minutes with a controversial but clever punched effort at the far post, which went unnoticed.
Millers quickly levelled, two minutes later, with a powerfully struck Ryan Edgar free-kick which found it’s way in with the help of a Dartford head.
Oliver Morris-Sanders kept Millers in the game with a couple of fine saves before Burgess’s overhead on 36 minutes put the home side back in front.
An eventless second half found impetus after a brilliant tactical change from Rod Stringer. With three at the back and three up front, Martin Tuohy turned well to cross for Sherwin Stanley, whose deft header on 84 minutes evaded the keeper and found the far corner of the net.
With Tonbridge losing and Hastings and Kingstonian drawing, Millers are well placed for a play-off place.