Nicky Forster's second-half header earned Brighton a point after Millwall had been ahead from the early stages courtesy of Jason Price's shot.
David Martin's cross from the left set up Price for a close-range tap-in.
Gary Alexander should have doubled the lead a minute before Liam Dickinson and Dean Cox both went close for Brighton.
Cox chipped against the bar two minutes before Adam Virgo set up Forster to score and Brighton survived a couple of late scares to hold on for a draw.
Brighton manager Russell Slade told BBC Southern Counties Radio:
"It's nice to not be explaining away a defeat, that's for sure. There were positives, and some good football going forward.
"Obviously we've worked hard with the back four this week, a bit patched up.
"It was just the start we didn't want to get off to to be honest but we were never out of the game. It was a question of hanging in there and getting a goal.
"Michel Kuipers made two critical saves tonight, and I think that's always a good sign for a keeper, and he kept us in the game."
90:00+6:01 The final whistle goes and the game is over.
90:00+4:19 Free kick awarded for a foul by Andy Frampton on Gary Hart. Shot comes in from Adam Virgo from the free kick.
90:00+3:28 Corner taken by Mark Wright played to the near post.
90:00+1:41 Scott Barron crosses the ball in from the free kick, clearance by Adam Virgo.
90:00+1:41 Booking The referee cautions Gary Hart for unsporting behaviour.
90:00+1:22 Gary Hart challenges Marc Laird unfairly and gives away a free kick.
90:00+0:42 Marc Laird crosses the ball in from the free kick, Michel Kuipers makes a save.
90:00+0:42 Booking Adam Virgo is shown a yellow card for unsporting behaviour.
90:00+0:26 Free kick awarded for an unfair challenge on Ashley Grimes by Adam Virgo.
87:03 Corner taken left-footed by Scott Barron, clearance made by Adam Virgo.
86:43 Michel Kuipers takes the free kick.
86:04 Substitution Dean Cox goes off and Mark Wright comes on.
84:55 Corner taken by Scott Barron from the right by-line, Michel Kuipers makes a save.
84:44 James Tunnicliffe concedes a free kick for a foul on Gary Alexander. Direct free kick taken by Alan Dunne.
82:22 Substitution Kiernon Hughes-Mason joins the action as a substitute, replacing Ali Fuseini.
80:56 Inswinging corner taken from the left by-line by Elliott Bennett, Nadjim Abdou makes a clearance.
79:13 Free kick awarded for an unfair challenge on Andy Frampton by Elliott Bennett. David Forde takes the free kick.
76:02 Substitution Gary Hart comes on in place of Nicky Forster.
73:39 Centre by Scott Barron, Michel Kuipers makes a save.
73:39 Substitution Ashley Grimes replaces Jason Price.
73:39 Free kick awarded for a foul by James Tunnicliffe on Gary Alexander.
71:13 Nadjim Abdou takes a shot. Save made by Michel Kuipers.
69:30 The assist for the goal came from Adam Virgo.
69:30 GOAL - Nicky Forster:Millwall 1 - 1 Brighton Nicky Forster finds the net with a headed goal from inside the penalty box. Millwall 1-1 Brighton.
68:31 Shot by Dean Cox. David Forde makes a save.
67:54 Gary Alexander is caught offside. Andrew Whing takes the indirect free kick.
65:55 Substitution George Friend replaces David Martin.
65:55 Inswinging corner taken by Elliott Bennett.
64:39 The ball is sent over by David Martin.
62:31 Free kick awarded for a foul by Jason Price on Adam Virgo. Michel Kuipers takes the direct free kick.
61:43 Jack Smith fouled by Adam Virgo, the ref awards a free kick. Direct free kick taken by David Forde.
61:06 Inswinging corner taken right-footed by Dean Cox played to the near post, clearance by Jason Price.
59:33 Scott Barron concedes a free kick for a foul on Liam Dickinson. Free kick crossed by Elliott Bennett, David Forde makes a
comfortable save.
59:11 Gary Alexander is ruled offside. Adam Virgo takes the indirect free kick.
56:56 Shot on goal by Elliott Bennett from just inside the area clears the crossbar.
55:06 Free kick awarded for a foul by Jason Price on Andrew Whing. Free kick taken by Michel Kuipers.
54:03 The referee blows for offside. Michel Kuipers restarts play with the free kick.
53:01 Free kick awarded for a foul by Adam Virgo on Jason Price. Free kick crossed right-footed by David Martin from left channel,
clearance made by Liam Dickinson.
49:49 Elliott Bennett has an effort at goal from a long way out that misses to the right of the target.
49:11 The free kick is swung in right-footed by Andrew Whing, clearance by Andy Frampton.
49:11 Booking Alan Dunne is shown a yellow card.
49:08 Free kick awarded for an unfair challenge on Liam Dickinson by Alan Dunne.
48:01 Nicky Forster is flagged offside by the assistant referee. David Forde restarts play with the free kick.
46:56 Adam Virgo produces a right-footed shot from the edge of the box and misses to the right of the goal.
45:01 The referee gets the second half underway.
45:01 Substitution Gary Dicker replaces Alan Navarro.
Half Time
45:00+2:00 The ref blows to end the first period.
45:00+1:07 Scott Barron fouled by Andrew Crofts, the ref awards a free kick. Free kick crossed by David Martin, Liam Dickinson makes
a clearance.
44:37 Unfair challenge on Scott Barron by Nicky Forster results in a free kick. Free kick taken by David Forde.
41:12 Unfair challenge on Gary Alexander by Alan Navarro results in a free kick. Andy Frampton restarts play with the free kick.
Correction - 35:21 Marc Laird fouled by Alan Navarro, the ref awards a free kick. Alan Dunne takes the direct free kick.
35:21 Free kick awarded for an unfair challenge on Marc Laird by Alan Navarro. Alan Dunne takes the free kick.
34:42 Free kick awarded for an unfair challenge on James Tunnicliffe by Jason Price. Adam Virgo takes the direct free kick.
34:13 Effort on goal by Andrew Crofts from long range goes harmlessly over the bar.
31:24 Andy Frampton challenges Liam Dickinson unfairly and gives away a free kick. Adam Virgo produces a shot on goal direct from
the free kick.
28:17 Gary Alexander takes a shot. Save made by Michel Kuipers. David Martin takes the inswinging corner, clearance made by Andrew
Crofts.
27:41 Free kick awarded for a foul by Liam Dickinson on Andy Frampton. David Forde restarts play with the free kick.
27:10 Jason Price is ruled offside. Adam Virgo takes the free kick.
23:52 Inswinging corner taken right-footed by Dean Cox, save by David Forde.
23:26 Jack Smith concedes a free kick for a foul on Liam Dickinson. Alan Navarro restarts play with the free kick.
18:59 Short corner worked by David Martin.
17:01 Headed from the edge of the area by Elliott Bennett goes wide of the left-hand upright.
Correction - 15:35 Liam Dickinson produces a right-footed shot from just outside the box that misses to the right of the target.
15:35 Liam Dickinson has shot on goal from just outside the area which goes wide of the right-hand upright.
13:41 Elliott Bennett takes a outswinging corner to the near post.
11:54 Booking The referee shows Andrew Whing a yellow card for dissent.
9:46 Corner taken by Elliott Bennett from the right by-line, David Martin manages to make a clearance.
8:08 Dean Cox takes the inswinging corner, save by David Forde.
5:09 Assist by David Martin.
5:09 GOAL - Jason Price:Millwall 1 - 0 Brighton Jason Price finds the net with a goal from the edge of the penalty box low into the middle of the goal. Millwall 1-0 Brighton.
3:11 Nicky Forster is flagged offside by the assistant referee. Indirect free kick taken by David Forde.
2:38 Unfair challenge on Andrew Crofts by Jack Smith results in a free kick. Free kick taken by Adam Virgo.
0:00 The game gets underway.
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