Denver climbed back to the .500 mark by improving to 1-1 on a five-game road trip that will continue through Wednesday with stops in New York, Detroit and Minnesota.
At the end of the trip the Nuggets will have played 16 road games this season and only six at home.
After Miller's jumper gave Denver a 92-85 lead with 1:01 to play, Paul George hit a 3-pointer for the Pacers. Miller then missed a jumper, which eventually led to Lance Stephenson making 1-of-2 free throws that cut the Indiana deficit to 92-89.
That gave Indiana a chance to tie it, but George Hill missed a 3-point attempt at the buzzer.
Corey Brewer and JaVale McGee both scored 20 points to lead Denver. McGee made all nine of his field goal attempts while the rest of the Nuggets shot just 37 percent. Miller added 15 points with eight assists.
George had 22 points for the Pacers, followed by David West with 18 points and 11 rebounds. Indiana had won its previous two games.