United fought back to equalise twice through Billy Sharp, after gifting the visitors the lead twice.
Laws said: "I am disappointed not to have won the game, but we gave Rotherham a good start with an early goal and we became frustrated, lost our leadership, organisation and went very quiet.
"We have got to defend better, stop shipping goals, they were basics.
"We showed more belief in the second-half, and I thought we had a spell where we should have won the game."
Rotherham's Mick Harford said: "It is the start of our season, it was a scrappy game, the turning point being the sending off of Paul McLaren.
"The referee said he sent him off for kicking out, we have asked him to look at the video, we think he got it wrong.
"We defended very well and it is a good point but I am disappointed we didn't get all three."