Tom Bradshaw put the Lions ahead, before Elijah Adebayo’s side-footed effort meant the two sides were level at half-time.
Benik Afobe restored Millwall’s lead with less than ten minutes left, but Town would claim a point after George Cooper’s headed own goal.
The draw means Town sit in 4th place in the Sky Bet Championship table.
Nathan Jones made four changes from the win against Hull before the international break. Kal Naismith and Tom Lockyer returned in defence for the Hatters. Henri Lansbury and Pelly Ruddock-Mpanzu came into Town’s midfield, in place of Luke Berry and Jordan Clark.
After a quiet opening 25 minutes at Kenilworth Road, the away side would go in front with the first effort on goal for either side. Bradshaw found the bottom corner with his effort.
The Millwall goal seemed to be a wake up call for Town, as they pressed for an equaliser. And they’d only be behind for less than ten minutes, with Adebayo finding the equaliser. After some superb passing, Amari’i Bell’s pass was perfect for the striker, who found the bottom corner via the post.
In a first half of few chances, Jed Wallace fired a free-kick well over James Shea’s crossbar, as the two sides went in level at the break.
The Hatters had the first chance of the second half. Harry Cornick reacted quickest to latch onto a through ball, but Bartosz Bialkowski did well to keep the effort out.
Scott Malone came close with an effort for the visitors. The ball fell to the Millwall player from a corner, and his curling effort went over the crossbar.
Town made their first substitution of the game just after the hour mark, as Fred Onyedinma was introduced for Cornick.
Millwall would regain the lead with just under ten minutes remaining. Oliver Burke found Afobe in the area, who beat Shea with a side-footed finish.
Jones made two changes after the goal, with Cameron Jerome and Robert Snodgrass coming on for Dan Potts and Mpanzu.
And Town would grab another equaliser. From a Snodgrass free kick, the Hatters would find the back of the net after Cooper headed beyond his own goalkeeper.
Both sides went in search of a winner, but the game would end as a draw with the Hatters now in fourth place ahead of Tuesday's match against Peterborough United.
Goals:
Town: Adebayo (33’), Cooper OG (86’)
Millwall: Bradshaw (25’), Afobe (81’)
Att: 10,069 (1,032 away)