The npower Championship leaders had come from a goal down to lead with six minutes remaining courtesy of Alejandro Faurlin's strike and an Adel Taarabt penalty.
But, having gifted City the lead when Clint Hill let in Brett Pitman, Rangers self-destructed when Steven Caulker was left alone to nod in Jamal Campbell-Ryce's stoppage-time corner and secure a 2-2 draw.
"I think we deserved it, if only for the work-rate, commitment and desire to defend," Millen said.
"It would have been harsh not to come away with something even though QPR bossed the game in open play."
Source: PA
Source: PA