Portugal leads the table in Group A with 13 points, while Serbia is second with two points less, followed by Luxembourg with six points, Ireland is fourth with two points, while Azerbaijan is last with one point.
During most of the first half, Serbia was a better rival, and Dušan Vlahović had the first chance in the fifth minute, when he came out in front of the Irish goalkeeper, but he was inaccurate.
Ireland had the best chance through Jeff Hendrick in the 16th minute, whose shot from the edge of the penalty area went near the goal.
Serbia takes the lead after a cross from the corner by Dušan Tadić, and an excellent reaction with the head of Milinković-Savić.
Serbia had several more chances until the end of the first part, but there was no change in the results.
The visiting team was a better rival in the continuation, and Aleksandar Mitrović had the best opportunities in the 57th and 60th minute, but the goalkeeper Gavin Bazunu intervened very well.
By the end of the match, Serbia was trying to come to a more convincing victory, but the Irish goalkeeper prevented it with great defenses.
Ireland reached the point, after the bad reaction of Milinković-Savić in the 87th minute, who hit Milenković in front of his goal during the intervention, from which the ball bounced into the net.
The next match in the qualifications for the World Cup, Serbia will play away to Luxembourg, on October 9.