Town were very much the weaker side in the first half and the combination of youngsters Darren Bent and Dean Bowditch up front for the Tractor Boys did not seem to trouble the Rotherham defence greatly.
Proctor flicked an effort just wide of the Town goal for Rotherham early on and then Sedgwick saw an 18-yard shot blast into Proctor when the ball looked to be on its way into the net.
It was an all too familiar story however when Rotherham took the lead on 24 minutes through Chris Sedgwick, with Town's tendancies to go ball watching once again to blame for the Merry Millers opener.
Sedgwick, who only passed a fitness check before the game, netted the opener just a minute after being clattered by Ian Westlake. The winger picked himself up to round both Westlake and defender John McGreal as Town players looked on without closing him down which he took full advantage of by smacking a grass cutter past keeper Kelvin Davis.
Town's first half peformance was poor, and Town boss Joe Royle reacted to this by replacing the ineffective Dean Bowditch with Shefki Kuqi for a more physical presence up front, and bringing on Martijn Reuser for Drissa Diallo with Jermaine Wright moving to right back and Reuser right midfield.
Town immediately had Rotherham on the back foot and after Reuser had forced home keeper Mike Pollitt to save at the near post they levelled after 66 minutes with one of the goals of the season, as Matt Richards picked out Jermaine Wright and he lashed in a spectacular 30-yarder.
After that Town continued to press on for another with former Nothern Irish International skipper Jim Magilton firing just past a post while the lively Jermaine Wright drilled another long-range effort over the bar.
With Rotherham going close through strikers Martin Butler, Michael Proctor and sub Richie Barker, it was Ipswich who snatched a crucial second with three minutes of normal time left, as Reuser's long throughball found Darren Bent and he beat the offside trap to fire underneath Pollitt and into the net.
And in injury time Finnish international Shefki Kuqi sealed the win when he ran clear down the left as Rotherham were caught pressing and the burly striker flipped a sweet shot past Pollitt to take the three points back to Suffolk and move Town up to fifth in the table.
Jermaine Wright scored one of the goals of the season with his 30 yarder whilst Martijn Reuser and Shefki Kuqi came on and changed the game for Town, and will give Joe Royle a few selection headaches ahead of the game against Sunderland on Easter Monday.
With a number of teams still in the push for a Play-Off spot, a win against the Black Cats would go a long way to keeping Town ahead of the chasing pack for the play-off's spot, and a step closer to achieving their aim of promotion to the Premiership.