Torquay boosted their promotion hopes and ended leaders Doncaster's 14 match unbeaten run in a controversial contest. Kevin Hill's soaring 37th minute header won it for the Gulls.
But Rovers were angry at referee David Crick's decision to send off defender Dave Mulligan after only 15 minutes. Mulligan was dismissed for a professional foul on Hill.
Torquay dominated the first half with midfielder Alex Russell and striker David Graham both outstanding in a fluent performance.
Hill's header, from a right wing cross by Liam Rosenior, confirmed Torquay's superiority.
United were forced to send on Martin Gritton for the injured Jo Kuffour at half time, and they were never as threatening in attack again.
Hill did have a second goal disallowed for a marginal offside in the 54th minute.
But a double substitution by Rovers manager Dave Penney ten minutes later saw the introduction of striker Leo Fortune-West and midfielder Paul Green.
They both galvanised their promoted team and set up a grandstand finish.
Rovers forced 11 corners in the second half and also had a goal disallowed five minutes from time when Fortune-West headed home, but was pulled up for a foul on Hill.
Penney said: "I was disappointed with the referee - full stop. But there is no point going on about it, because you only get into trouble.
"We couldn't see anything wrong with Leo's header and will have a good look at the video before making up our mind about the sending off.
"Torquay were better than us in the first half, but I thought we were the better side in the second." Torquay boss Leroy Rosenior said: "We were absolutely scintillating in the first half. We got a bit nervous in the second half and Doncaster came on strong.
"But we showed a lot of guts to keep them out. When you are under pressure as we were in the second half, it's not about tactics it's about sheer determination." Rosenior and Doncaster number two Mickey Walker appeared to have a touchline spat during the second half, but Rosenior said: "Although we had a little set-to, we had a laugh about it afterwards and I'll buy him a drink.
"There was a lot of passion out there with both teams desperate to win."