"We have got out of jail. The only difference between the two teams in the first-half was a wonder goal by Beckford," admitted Adkins.
"I had a little go at my players at half-time because I knew we needed to raise our game.
"But credit to Rotherham, they played well in the second-half and we were forced to hang on.
"But the one positive thing we can take out of this game is another win and another clean sheet which puts us back on top of the table."
Rotherham remain rooted to the foot of the table after the loss, with 10 points now seperating them from safety.
"We should have been talking about a three or 4-1 victory instead of a 1-0 defeat," said Millers boss Alan Knill, a former Scunthorpe player.
"But when you create so many good chances as we did, you have got to put them away.
"I know our position looks difficult, but we will do everything we can to try and stay in this division."