كتب : وكالات
The European champions went one down in the 24th minute after Massimo Maccarone easily tapped in benefiting from dreadful errors from Dida and Kakha Kaladze.
The Brazilian keeper failed to control a weak shot and Kaladze couldn't clear the ball only for the former Boro striker to net the opener.
But former Italy defender Nesta tucked the ball into the back of the net in the 90th minute to give Milan a precious point.
Coach Carlo Ancelotti rested Kaka and Filippo Inzaghi for the Benfica game in the Champions League on Tuesday.
Milan now have five points from three games.