You've got two choices, a new battery or a new multimeter - because one of them is faulty!
Voltage doesn't mean a huge amount to be honest, you can have a battery that reads 12V, but only has 1A of current in it. Off the car, it will read 12v all day and night - but the moment you connect it to the car, or even a test lamp, you'll find the voltage dropping to almost nothing.
If your battery is draining and you've said theres only a 20 mAh draw - it *must* be the battery or a faulty multimeter.