Ryan Kreklow made three free throws, two with 42 seconds left, to cut Northern Iowa's lead to 58-57. After the Panthers struggled to get the ball upcourt, calling two timeouts, Klint Carlson missed on a baseline drive. Kreklow got the rebound and Miller raced down the floor and scored before the Panthers' Wes Washpun missed a short jumper at the buzzer.
The victory snapped a six-game losing streak to Northern Iowa.
Washpun and Matt Bohannon each had 15 points for the Panthers (9-7, 1-2).
The Panthers never trailed in the second half until Miller's winning basket, leading by 10 with 9:17 remaining.