The powerful midfielder broke the deadlock in the 34th minute with a low shot from the edge of the box after a left-wing cross had cannoned off a Cheltenham defender.
The visitors had the better of the second period. Mildenhall failed to hold a long range effort from Matt Richards and the rebound just eluded Terry Gornell.
Then a 20-yard drive from Rovers old boy Steve Elliott grazed the foot of a post as Rovers defended well to hold their advantage.
Elsewhere, Fleetwood struck late to earn a crucial point against Wycombe in a 1-1 draw while Northampton striker Emile Sinclair's double earned a vital 2-1 win against Torquay.
- Sports & Recreation
- Steve Mildenhall