Peters and Town parted company at the beginning of the week following an awful run of results that have seen the Shrews collect just six points from a possible 36 and record just one win since Boxing Day - culminating in a 4-1 thrashing at struggling Barnet last Saturday.
There have been a number of names already placed in the frame to replace him - with Micky Adams, Paul Simpson, ex-Bury boss Chris Casper and Ian Atkins all thought to be among the front-runners.
In the meantime Peters' assistant John McMahon has been placed in temporary charge and will have been encouraged as the home side came from behind to earn a deserved point from an often, scrappy, untidy encounter.
Pablo Mills headed fifth in the table Rotherham into a 37th minute lead, but the home side ultimately secured a share of the spoils just five minutes later when skipper Ben Davies rifled home a fine angled drive.
Although Rotherham had the better of the opening exchanges it was Shrewsbury who went closest to a breakthrough, with central defender Kelvin Langmead heading against a post in the 18th minute from a Kevin McIntyre corner.
But it was their failure to deal with a set-piece that was to cost Shrewsbury dearly and on 37 minutes Mills rose to head home a Mark Hudson free-kick from eight yards.
But Mark Robins' men had little time to enjoy their lead and when Ben Herd released Davies with a quickly taken free-kick, the Shrews skipper advanced to blast home his sixth goal of the season, scoring with a rasping, low drive.
Both sides pressed hard for a second-half winner, but neither keeper was seriously tested as the game ended in tame fashion.