Philadelphia, which stopped the Hawks' five-game winning streak, never trailed after Miller's layup made tied it at 67 with 3:09 left in the third.
Joe Johnson led Atlanta with 32 points, but he fell down and lost the ball on what appeared to be a damp floor while dribbling with 1:36 remaining.
Iguodala, who also had 10 assists, drove the length of the floor for a layup banked high off the backboard that put Philadelphia up 103-96.
The Sixers have won two straight and 21 of 28. The teams will play again Saturday in Philadelphia, where the Sixers are 13-2 in the second game of back-to-backs.
Atlanta never got closer than an 88-all tie on Josh Childress' 8-foot runner with 6:36 remaining.
The Hawks were down 91-90 after Childress dunked in a putback at the 5:25 mark, but Miller pulled up for a 16-footer against Marvin Williams that started another Philadelphia run.
Iguodala, who hit a 3-pointer in the final second of the third to make it 77-74, came within three of his season high.
Mike Bibby had 11 assists, but he was just 1-for-11 from the field for Atlanta. Childress finished with 20 points in a reserve role.
Notes:@ The Hawks dropped to 7-34 when entering the fourth quarter with a deficit. ... Philadelphia improved to 9-6 against the Southeast Division, 3-4 on the road. ... Atlanta was just 4-for-13 on 3-point attempts.
