Kevin Nolan's injury-time winner gave Newcastle a dramatic victory and took them to the top of the Championship.
Doncaster went ahead when Martin Woods slotted into an empty net after being set up by on-loan forward Billy Sharp.
Andy Carroll volleyed home an equaliser before Woods fired a penalty wide after Ryan Taylor's handball.
Newcastle were reduced to 10 men when Zurab Khizanishvili was sent off, but Nolan secured the points with an 18-yard drive that went in off the post.
The home fans had earlier made their frustration clear as their team consistently gave the ball away while Doncaster caused them problems.
Striker Marlon Harewood, on loan at Newcastle from Aston Villa, produced a disappointing performance and was booed by the St James' Park crowd when he was substituted just before the hour mark.
And Carroll squandered a number of good chances before finding the net.
His worst miss came when he combined with Harewood and then rounded keeper Neil Sullivan, only to shoot wide.
Carroll's leveller galvanised the Magpies and they continued to press after the 84th-minute loss of Khizanishvili, who was dismissed for reacting angrily to a challenge from Sharp.
They were rewarded when Nolan collected Danny Guthrie's pass and fired beyond Sullivan.
Newcastle caretaker manager Chris Hughton:
"I'm certainly relieved that it (the penalty) didn't go in.
"In the first half they (Doncaster) played a good tactical game but they will keep possession against any team.
"I thought over the 90 minutes that if there was a side that was going to win the game I felt it was us but at 1-1 and with the penalty you think the worst."
Doncaster manager Sean O'Driscoll:
"Penalties will be scored and missed as long as there are football matches.
"There's no point hiding behind that, we pride ourselves on doing certain things and at times I thought we didn't do them very well.
"All we ask is that if they make a mistake they react in a positive manner."
90:00+5:38 The referee signals the end of the game.
90:00+4:23 Martin Woods takes the outswinging corner, Jason Shackell concedes a free kick for a foul on Andrew Carroll. Steve Harper restarts play with the free kick.
90:00+3:31 Free kick awarded for a foul by James Hayter on Steve Harper. Steve Harper takes the free kick.
90:00+1:24 Assist by Danny Guthrie.
90:00+1:24 GOAL - Kevin Nolan:Newcastle 2 - 1 Doncaster Kevin Nolan gets on the score sheet with a goal from just outside the area to the bottom left corner of the goal. Newcastle 2-1 Doncaster.
90:00+0:36 Centre by James O'Connor, save by Steve Harper.
90:00+0:09 Ben Tozer concedes a free kick for a foul on Lewis Guy. James O'Connor takes the direct free kick.
88:53 Unfair challenge on Sanchez Jose Enrique by James Hayter results in a free kick. Direct free kick taken by Steve Harper.
87:55 The ball is delivered by Danny Guthrie. Andrew Carroll is flagged offside by the assistant referee. Free kick taken by Neil Sullivan.
86:41 Substitution Ben Tozer joins the action as a substitute, replacing Jonas Gutierrez.
84:13 Free kick taken by Steve Harper.
84:13 Substitution Lewis Guy replaces Billy Sharp.
84:13 Sent off Zurab Khizanishvili is sent off by the referee for violent conduct.
83:48 Booking Booking for Nicky Butt.
83:05 Booking Billy Sharp is shown a yellow card.
82:39 Billy Sharp is caught offside.
81:44 Nicky Butt produces a drilled left-footed shot from 20 yards. Save by Neil Sullivan.
80:57 Dean Shiels has an effort at goal from outside the penalty area which goes wide right of the goal.
80:13 Tamas Kadar challenges James Hayter unfairly and gives away a free kick. Martin Woods takes the free kick.
79:00 Billy Sharp challenges Zurab Khizanishvili unfairly and gives away a free kick. Free kick taken by Jonas Gutierrez.
77:51 Effort on goal by Kevin Nolan from 30 yards. Sam Hird gets a block in. Short corner worked by Jonas Gutierrez, Ryan Taylor crosses the ball.
76:47 Indirect free kick taken by Steve Harper.
76:47 Substitution James Hayter replaces James Coppinger.
76:47 Billy Sharp is ruled offside.
75:33 The free kick is swung in right-footed by Ryan Taylor, Jason Shackell manages to make a clearance.
75:33 Booking James Chambers goes into the book.
75:18 Nile Ranger fouled by James Chambers, the ref awards a free kick.
74:22 Penalty missed by Martin Woods.
74:22 Booking Kevin Nolan booked.
73:44 Ryan Taylor is penalised for a handball.
71:50 Inswinging corner taken right-footed by Ryan Taylor played to the near post, clearance by Martin Woods.
71:10 Nicky Butt gives away a free kick for an unfair challenge on Billy Sharp. Direct free kick taken by Jason Shackell.
70:35 Free kick awarded for a foul by Quinton Fortune on Nicky Butt. Danny Guthrie takes the direct free kick.
69:32 Ryan Taylor takes a outswinging corner.
68:20 Free kick awarded for an unfair challenge on Martin Woods by Nicky Butt. Direct free kick taken by John Oster.
67:59 Unfair challenge on Jonas Gutierrez by Dean Shiels results in a free kick. Ryan Taylor takes the free kick.
66:50 Kevin Nolan provided the assist for the goal.
66:50 GOAL - Andrew Carroll:Newcastle 1 - 1 Doncaster Andrew Carroll scores a goal from inside the penalty area to the bottom right corner of the goal. Newcastle 1-1 Doncaster.
65:14 Substitution (Doncaster) makes a substitution, with John Oster coming on for Simon Gillett.
64:31 Free kick awarded for a foul by Quinton Fortune on Nicky Butt. Ryan Taylor delivers the ball, Effort from deep inside the area by Kevin Nolan clears the bar.
64:11 Unfair challenge on Sanchez Jose Enrique by Billy Sharp results in a free kick. Sanchez Jose Enrique takes the free kick.
63:27 The ball is crossed by Jonas Gutierrez, clearance made by Quinton Fortune.
62:42 Ryan Taylor delivers the ball, Headed effort from inside the area by Andrew Carroll misses to the left of the goal.
60:34 The assistant referee signals for offside against Andrew Carroll. Neil Sullivan takes the indirect free kick.
58:58 Neil Sullivan takes the free kick.
58:58 Substitution (Newcastle) makes a substitution, with Nile Ranger coming on for Marlon Harewood.
58:58 The referee gives a free kick against Marlon Harewood for handball.
58:12 Foul by Andrew Carroll on James Chambers, free kick awarded. Direct free kick taken by Neil Sullivan.
57:39 The ball is swung over by Sanchez Jose Enrique.
57:04 Shot from outside the box by Simon Gillett goes wide right of the target.
56:27 The assistant referee flags for offside against Billy Sharp. Steve Harper restarts play with the free kick.
55:13 Neil Sullivan takes the direct free kick.
55:13 Booking Marlon Harewood receives a caution.
55:02 Jason Shackell fouled by Marlon Harewood, the ref awards a free kick.
54:43 Shot from 35 yards by Tamas Kadar went wide of the left-hand post.
53:24 Free kick awarded for an unfair challenge on Jonas Gutierrez by Quinton Fortune. Ryan Taylor has a direct shot on goal from the free kick, blocked by Jason Shackell. Ryan Taylor takes the inswinging corner, clearance by James O'Connor.
52:28 Effort from deep inside the area by Andrew Carroll misses to the right of the goal.
51:46 Foul by Nicky Butt on James Chambers, free kick awarded. Jason Shackell takes the indirect free kick.
51:00 Effort from outside the penalty box by Danny Guthrie goes wide right of the goal.
50:04 The assistant referee signals for offside against Marlon Harewood. Quinton Fortune takes the indirect free kick.
48:56 Handball decision goes against Billy Sharp. Direct free kick taken by Steve Harper.
46:59 Inswinging corner taken right-footed by Ryan Taylor, Neil Sullivan manages to make a clearance.
46:44 Sanchez Jose Enrique has an effort at goal. Blocked by Quinton Fortune.
45:01 The referee blows his whistle to start the second half.
Half Time
45:00+1:49 The players leave the pitch at half time.
45:00+1:04 Free kick crossed left-footed by Ryan Taylor from left channel.
45:00+1:04 Booking James O'Connor is cautioned.
Correction - 45:00+0:51 Free kick awarded for an unfair challenge on Jonas Gutierrez by James O'Connor.
45:00+0:51 Unfair challenge on Jonas Gutierrez by James O'Connor results in a .
45:00+0:14 The referee blows for offside. Indirect free kick taken by Sanchez Jose Enrique.
44:38 Sanchez Jose Enrique crosses the ball, Andrew Carroll has a headed effort at goal from close range which goes wide of the left-hand post.
43:49 Foul by Martin Woods on Zurab Khizanishvili, free kick awarded. Steve Harper takes the direct free kick.
41:01 Ryan Taylor produces a cross, Shot by Jonas Gutierrez from deep inside the six-yard box clear the bar.
40:30 The official flags Martin Woods offside. Steve Harper takes the indirect free kick.
39:21 Marlon Harewood challenges Quinton Fortune unfairly and gives away a free kick. Neil Sullivan restarts play with the free kick.
37:34 Jonas Gutierrez delivers the ball, clearance made by Quinton Fortune.
35:51 Ryan Taylor crosses the ball in from the free kick.
35:51 Booking Dean Shiels goes into the referee's book for unsporting behaviour.
35:29 Unfair challenge on Ryan Taylor by Dean Shiels results in a free kick.
34:22 Outswinging corner taken by Ryan Taylor, clearance made by Sam Hird.
33:32 Martin Woods has a drilled shot. Save by Steve Harper. Short corner taken by Martin Woods.
32:46 The ball is crossed by Sanchez Jose Enrique, clearance by James Chambers.
31:17 Marlon Harewood challenges James Chambers unfairly and gives away a free kick. Neil Sullivan restarts play with the free kick.
30:42 Centre by Sanchez Jose Enrique, Header at goal by Marlon Harewood, save by Neil Sullivan.
30:14 Outswinging corner taken by Ryan Taylor from the right by-line.
28:18 Foul by James Coppinger on Jonas Gutierrez, free kick awarded. Free kick taken by Sanchez Jose Enrique.
26:48 Billy Sharp is flagged offside by the assistant referee. Tamas Kadar restarts play with the free kick.
25:22 Nicky Butt concedes a free kick for a foul on Martin Woods. Strike on goal comes in from Martin Woods from the free kick.
23:05 Free kick awarded for a foul by Ryan Taylor on Dean Shiels. Direct free kick taken by Martin Woods.
22:02 Foul by Marlon Harewood on James Coppinger, free kick awarded. James O'Connor takes the direct free kick.
21:13 James Coppinger has an effort at goal from 20 yards. Steve Harper makes a save.
20:26 Danny Guthrie has a curled shot. Save by Neil Sullivan.
20:15 Centre by Jonas Gutierrez.
19:58 Free kick awarded for a foul by Martin Woods on Danny Guthrie. Free kick taken by Sanchez Jose Enrique.
17:56 Assist on the goal came from Martin Woods.
17:56 GOAL - Dean Shiels:Newcastle 0 - 1 Doncaster Dean Shiels fires in a goal from deep inside the penalty box low into the middle of the goal. Newcastle 0-1 Doncaster.
17:48 A cross is delivered by Martin Woods,
15:58 Martin Woods concedes a free kick for a foul on Nicky Butt. Ryan Taylor produces a shot on goal direct from the free kick, Neil Sullivan makes a save.
15:33 Free kick awarded for an unfair challenge on Kevin Nolan by Simon Gillett. Free kick taken by Steve Harper.
14:33 Sanchez Jose Enrique crosses the ball.
13:17 The referee blows for offside. Steve Harper takes the indirect free kick.
11:59 Inswinging corner taken by Martin Woods, Ryan Taylor manages to make a clearance.
10:40 Outswinging corner taken by Ryan Taylor from the right by-line, Headed effort from deep inside the area by Andrew Carroll misses to the left of the goal.
10:25 Marlon Harewood takes a shot from 20 yards. Jason Shackell gets a block in.
8:36 Centre by James Coppinger, clearance made by Steve Harper.
7:44 The referee blows for offside against Marlon Harewood. Neil Sullivan restarts play with the free kick.
4:00 The assistant referee signals for offside against Andrew Carroll. Sam Hird takes the free kick.
3:09 Kevin Nolan gives away a free kick for an unfair challenge on Quinton Fortune. James O'Connor restarts play with the free kick.
0:18 The referee blows for offside. Free kick taken by Quinton Fortune.
0:00 The referee starts the match.
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