The Lions secured a point in dramatic circumstances at St Andrew’s in what turned to be an enthralling showdown.
Juninho Bacuna fired past Millwall keeper Bartosz Bialkowski to give Birmingham the lead in the second-half.
Burke then levelled proceedings for Millwall in the 68th minute as he slotted home from close range after being teed up by Danny McNamara.
Birmingham were awarded a penalty when Lyle Taylor was brought down in the area.
The forward duly converted this spot kick for the Blues.
Seemingly heading towards a defeat, Millwall were handed the chance to equalise in stoppage-time after Ivan Sunjic fouled Jake Cooper in the box.
Benik Afobe sealed a draw for his side by netting his 12th goal of the season.
With two games left to play this season, Millwall are still in with a chance of securing a place in the play-offs as they are only three points behind Sheffield United in the Championship standings.
After scoring for the club in yesterday’s game, Burke took to Instagram to send a message to Millwall’s supporters.
The Scotland international posted: “We are still in!
“Great support again.
Quiz: Did Millwall sign these 26 players for a fee or a free?
“Happy to get on the score sheet.
“We fight until the end.”
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Although Millwall did lose ground on the Blades yesterday due to the fact that Paul Heckingbottom’s side sealed a 1-0 victory over Cardiff City at Bramall Lane, they are still very much in contention for the final play-off spot in the Championship.
Whereas the Lions face Peterborough and AFC Bournemouth in their final two games of the season, United are set to take on Queens Park Rangers and Fulham.
Burke will be looking to prevent his parent-club from reaching the play-offs by building upon the goal that he scored for Millwall yesterday in their upcoming fixtures.
The Lions loanee will be confident in his ability to make a difference for his side as he has provided three direct goal contributions in his last six league appearances.