Both managers were happy with the outcome although the Blades dominated the game against the injury-hit home side, who had nearly a dozen players missing with injury including player-manager Andy Hessenthaler.
The Gills boss said: "We had to give four players fitness tests before the start, including me, and I had to pull out as well with a calf strain. Mark Saunders was only 70 per cent fit while Adrian Pennock hasn't played a league game since last October when he suffered a bad knee injury at Birmingham.
"We had to send them out and full credit to them for the way they played."
United boss Warnock said: "It just shows you how far we have come but we are disappointed only to get a point .We played some great football and nobody is noticing us at the moment.
"We have got injuries as well but the players who have come in are playing very well, enjoying their football with a smile on their face."
However Warnock was furious at the final whistle and involved in a heated confrontation with ref Gallagher but wouldn't reveal afterwards what it was about.
GIllingham took a 16th minute lead when Paul Shaw netted his fourth of the season, neatly set up by Saunders after he picked up a loose ball in midfield.
Peter Ndlovu might have been celebrating a first-half hat-trick, but he was denied by great saves form young Gillingham keeper Jason Brown who bounced back with a solid display after conceding four at Nottingham Forrest in midweek.
Utd equalized on the hour. Ndlovu was involved, seeing his shot blocked by Barry Ashby, but Wayne Allison pounced to bundle the ball in, much to the delight of the travelling support behind the goal