Boro fell behind in the 19th minute when Glen Rea headed home a rebound from a corner, yet the Teessiders responded immediately when Duncan Watmore scored his ninth goal of the season via a deflection.
Both sides could have won it in the second half, as Luton striker James Collins saw a penalty saved by goalkeeper Jordan Archer.
The 28-year-old will be out of contract at the end of the season and won’t have done his chances of earning a new deal any harm here.
Boro also went close as George Saville’s effort hit the crossbar with just minutes remaining.
The result sees Warnock’s side drop to 10th in the Championship table ahead of their final game of the season against Wycombe.
Here’s how Boro fared at Kenilworth Road.
1. Jordan Archer - 7
Had to punch a few Luton corners which were threatening. Made a penalty save to keep out James Collins. 7 Photo: Stu Forster
2. Grant Hall - 8
Assured at the back against Luton’s physical forwards Collins and Elljah Adebayo. 8 Photo: Stu Forster
3. Paddy McNair - 8
Unfortunate to concede a penalty but was excellent on the right of defence for most of the match. Made some important tackles. 8 Photo: Alex Pantling
4. Marc Bola - 7
Stood up to the physical challenge when Luton’s strikers received the ball with their backs to goal. 7 Photo: Alex Burstow