Tommy Smith's first-half strike all-but secured Derby's Championship status but darkened the cloud hanging over relegation-haunted Millwall.
Smith's low right-footed drive from the edge of the penalty area sneaked past the outstretched arm of Colin Doyle for his sixth league goal of the season after 30 minutes.
It was a rare effort on target in a first half which Millwall dominated, but they looked short of confidence and lacked ideas around the Derby penalty area.
Jody Morris' long-range shot which flew over the crossbar after 12 minutes following neat build-up play between David Livermore and Carl Asaba was typical of the Lions' lack of ingenuity in the final third of the pitch.
Morris - back in David Tuttle's starting line-up after missing the last seven games nursing a fractured cheekbone - soon saw another effort blocked by Rams midfielder Giles Barnes, before the same player then threw himself in front of Livermore's goal-bound strike.
But the former Chelsea man's afternoon did not last much longer before he was withdrawn from the action and replaced by Jamie Vincent just before the half-hour after sustaining an injury.
Millwall continued to press forward at every opportunity and Asaba flashed an angled shot wide of the target.
But it was the hosts who opened the scoring as Millwall were still trying to organise themselves following Vincent's introduction - Smith firing low into the corner.
The Rams might have quickly doubled their lead when on-loan Charlton striker Kevin Lisbie shot from inside the box, but Doyle repelled the effort with his feet.
Terry Westley's side were now rampant and Mounir El Hamdaoui - recalled to the side after making a rapid recovery from surgery to his shoulder - sent a swerving drive narrowly wide of the post in the 38th minute.
Millwall enjoyed a short spell of pressure either side of the break but it was Derby who emerged for the second period with all guns blazing.
On-loan Tottenham striker El Hamdaoui looked certain to mark his return with a goal when he ghosted in behind the Lions backline, but the Dutchman steered Lisbie's 52nd minute centre past the post.
Zak Whitbread bravely blocked another effort by El Hamdaoui and Smith went close to doubling his and Derby's tally with a low shot from just inside the area.
Lisbie fired wide when well-placed before the hour mark and substitute Michael McIndoe wasted two chances to put the game beyond Millwall's reach midway through the second half.
Inigo Idiakez stung Doyle's palms with a vicious 20-yard drive seven minutes from time as Derby continued to dominate.
Lisbie spurned another opportunity at the death when he fired straight at Doyle as the Rams were made to settle for just a solitary goal at Pride Park.
Teams
Derby Camp, Edworthy, Moore, Nyatanga, Wright (Jackson 70),Barnes, Idiakez, Seth Johnson (Bolder 63), Smith, Lisbie,El Hamdaoui (McIndoe 64).
Subs Not Used: Poole, Peschisolido.
Goals: Smith 31.
Millwall Doyle, Phillips, Lawrence, Whitbread, Dunne,Livermore, Elliott, Morris (Vincent 29), Craig,Asaba (Powel 79), May, Vincent (Cogan 72).
Subs Not Used: Braniff, Brooks.
Booked: Phillips.
Att: 24,415
Ref: P Taylor (Hertfordshire).