Daniel Nardiello earned the home side a point with a goal four minutes after coming on in the 65th minute, before then getting sent off after the game was over.
Nardiello was booked following a clash of heads seconds before the end and when he continued his protests after the final whistle, he was shown a second yellow card by referee Dean Whitestone.
Jon Taylor gave the visitors the lead with a headed goal after 20 minutes, and it took Rotherham until the 56th minute to equalise through Alex Revell.
Shrewsbury again took the lead after 62 minutes when Tom Bradshaw tapped in from close range but Nardiello came on and soon headed the home side level from Ben Pringle's free kick.
"I felt there were passages of play when we played very well," said Turner. "We looked likely to create chances, looked likely to score. I was pleased when we had the ball but not often enough did we look to get in and pass it. We knew there would be a problem with their power and the long balls into our box and I thought for the majority of the game we dealt reasonably well with players than can be a handful.
"But we got caught two or three times from the big kick outs which was disappointing, but I have got to say there is a great deal of encouragement in the level of our play. I thought the movement was good, and Tom Bradshaw and Jon Taylor up front worked their socks off.
"Overall, we have got to be pleased with the point and the performance, but initially my reaction is one of disappointment."