The Falcons were the first on the board when fly-half Dave Walder struck a penalty in the eighth minute, but Rotherham hit back and got off to a positive start as Mike Umaga ran in their first try in the 12th minute to take the lead.
Phil Jones stretched the lead with the conversion, but a missed tackle by Umaga 10 minutes later, saw fullback Michael Stephenson run in for a converted try that edged the Falcons back in front.
The Falcons extended their lead before the break when flanker Jon Dunbar drove over for a try.
Jones closed the gap with a penalty before the break to keep the Titans in the match.
The Titans fly-half was back in the action soon after the restart when he put over his second penalty, and he followed it up with a great individual effort to cut inside and score his side's second try. He capped it off with the conversion and the Titans were just three points behind.
But a Walder penalty and a yellow card to Titans flanker Des Tuiavi'i put the hosts back on the back foot.
But the Falcons never took advantage of the extra man and it was Jones again who pulled his team back into the game – knocking over a 30-metre penalty to pull the deficit back to three points.
But a late penalty goal by Walder – one minute from time – was enough to keep the Titans at bay, and bring an end to a dismal Premiership season for Rotherham.
For Rotherham:Tries: Umaga, JonesPens: Jones 2Cons: Jones 2
For Newcastle:Tries: Stephenson, DunbarCons: Walder 2Pens: Walder 4