Alex Cross and Graeme Clark’s side came away with a point from an EFL Youth Alliance clash against a strong Rotherham side at the Prestige Group Stadium.
Pools had the earliest chance, as just minutes in Jacob Penprase fired a shot over the bar.
The home side took the lead halfway through the second half thanks to Alex Pavan. A corner fell to the forward and his sublime effort from 30 yards caught out the Rotherham keeper.
Pools almost doubled their lead in first half stoppage time when Joe Aungiers and Penprase both had shots blocked in quick succession.
Josh Ayres had Rotherham’s best chance so far early in the second half, as he beat a Pools defender but dragged his shot wide.
Alfie Steel nearly had his name on the scoresheet for Pools after a tireless performance when his curling free kick clipped the top of the crossbar.
Rotherham equalised late on when a long throw-in caused trouble in the Pools box, and following a scramble it was bundled home.
Harry Conyard made a brilliant stoppage time save to deny Rotherham going ahead in the dying moments, as Pools held on for a point.