Jo Kuffour pounced in the last minute to give Torquay the point they deserved following a tremendous battling display.
It looked as if Doncaster would pinch all three points after hitting back in fine style themselves following Adebayo Akinfenwa's ninth minute opener for the visitors.
But the Gulls' never say die attitude and skillful attacking play was justly rewarded when Kuffour swooped to give them a share of the spoils at the finish.
Torquay made a flying start when former Doncaster striker Akinfenwa beat the offside trap to latch on to a through ball from Kuffour.
Rovers' keeper Andy Warrington raced off his line to parry his first shot, but Akinfenwa was quick to latch on to the rebound and slam home his first league goal for the club.
Rovers took some time to recover but James Coppinger was not far off the mark with a 20 yarder after Neil Roberts had set up the chance in the 16th minute.
Michael McIndoe levelled the scores a couple of minutes later when he bundled the ball home at the second attempt after making a hash of his first shot following a splendid right-wing cross from Coppinger.
It was Doncaster's first league goal in four games and it gave them confidence with McIndoe hitting a dipping 30 yarder just over the bar in the 22nd minute.
McIndoe made it 2-1 five minutes later when he forced the ball home following a quick-fire counter attack involving Gregg Blundell and Coppinger which caught the visitors napping.
Torquay never gave up the fight and Warrington had to move smartly to tip a cracking free-kick from Alex Russell over the bar before Craig Taylor had a header cleared off the line.
Doncaster missed chance after chance to make the game safe after the interval with McIndoe denied his hat trick after a brilliant save in the 54th minute.
Roberts had his shot on the turn deflected just over the top and McIndoe was out of luck again after being presented with another good scoring opportunity in the 68th minute.
Torquay pressed on undaunted in the closing stages and it was no more than they deserved when Taylor headed down a long ball from Steve Woods for Kuffour to fire home unmarked from close range in stoppage time.