Roenicke took exception from the top step of the dugout, yelling at Darling, who promptly tossed the Brewers skipper.
"Both of them flat-out missed it," Roenicke said after the game. "The issue I have is I get kicked out for those guys blowing an easy call. I'm not very happy about that."
Roenicke was yelling at Fagan, when he was warned by Darling to quiet down. Roenicke said his response was to tell Darling he missed the call, too.
"He shouldn't have kicked me out for that," Roenicke said. "If I go out there and say some things that I shouldn't be saying -- I'm fine with getting kicked out."
After being ejected, an incensed Roenicke stormed out of the dugout and argued with Darling for about a minute before heading off to the clubhouse.
The call came with Milwaukee leading, 6-3, and Headley ended up grounding out to second.
AJ Cassavell is a reporter for MLB.com. Follow him on Twitter @ajcassavell. This story was not subject to the approval of Major League Baseball or its clubs.