A superb strike from Arsenal loanee Jay Emmanuel-Thomas helped to extend Doncaster's unbeaten league run to four games and leave Derby struggling.
Billy Sharp opened the scoring from the penalty spot after being brought down by Rams defender Jake Buxton.
Emmanuel-Thomas doubled the lead when he latched on to James Chambers's pass before netting a superb left-footed shot from the edge of the area.
Rob Hulse pulled one back with a left-footed shot but Doncaster held out.
Doncaster manager Sean O'Driscoll:
"I don't look at the table so I am not concerned.
"I keep saying to the players, 'if you want to win this division would you do anything differently? If there is, why aren't you doing it already?'
"My motivation is to stay in this division.
"I think we did really well to cope with the pitch because at this minute in time it's not doing us any favours."
Derby County manager Nigel Clough told BBC Radio Derby:
"We were beaten today by a dubious penalty and what can only be described as a wonder goal.
"I can't remember David Martin having too much to do.
"We have looked nervous away from home, not enough people grasping the nettle.
"(They are) always looking to someone else to do something. I want them to take responsibility for themselves and then to help their mates on the pitch.
"When it is not going well everyone retreats into themselves a little."
90:00+7:00 The referee brings the game to a close.
90:00+6:27 The ball is delivered by James McEveley.
90:00+5:32 The referee gives a free kick against Rob Hulse for handball. Direct free kick taken by Neil Sullivan.
90:00+3:15 Foul by Elliott Ward on Paul Green, free kick awarded. Free kick crossed right-footed by Michael Tonge.
90:00+1:45 Substitution Jordon Mutch on for James Coppinger.
88:27 Michael Tonge takes the inswinging corner, James Coppinger makes a clearance.
86:41 David Martin takes the free kick.
86:41 Substitution (Doncaster) makes a substitution, with Martin Woods coming on for James Hayter.
86:41 James Coppinger concedes a free kick for a foul on James McEveley.
82:13 Nicky Hunt fouled by John Oster, the ref awards a free kick. Nicky Hunt takes the free kick.
81:24 Gareth Roberts challenges Rob Hulse unfairly and gives away a free kick. Free kick crossed by Nicky Hunt.
79:38 Substitution Jay Emmanuel-Thomas goes off and Shelton Martis comes on.
79:38 Substitution Chris Porter is brought on as a substitute for Jake Buxton.
79:38 Paul Green is ruled offside.
78:02 The referee blows for offside against Paul Green. Free kick taken by Neil Sullivan.
76:09 The ball is sent over by Nicky Hunt, Rob Hulse takes a shot. Elliott Ward gets a block in.
73:57 Booking The referee cautions James Hayter for unsporting behaviour.
73:54 GOAL - Rob Hulse:Doncaster 2 - 1 Derby Rob Hulse finds the back of the net with a goal from inside the penalty box to the bottom left corner of the goal. Doncaster 2-1 Derby.
72:48 Unfair challenge on John Oster by James McEveley results in a free kick. John Oster crosses the ball from the free kick right-footed from right wing, save by David Martin.
68:28 GOAL - Jay Emmanuel-Thomas:Doncaster 2 - 0 Derby Jay Emmanuel-Thomas fires in a goal from the edge of the penalty area to the top right corner of the goal. Doncaster 2-0 Derby.
67:31 Unfair challenge on Stephen Pearson by James Chambers results in a free kick. Free kick crossed by Michael Tonge. The assistant referee flags for offside against Rob Hulse. Neil Sullivan takes the indirect free kick.
66:33 John Oster produces a right-footed shot from deep inside the penalty area which goes wide of the right-hand post.
65:12 The ball is crossed by James Chambers, James McEveley gets a block in. James Coppinger takes a outswinging corner from the right by-line played to the near post, clearance made by Shaun Barker.
63:33 James McEveley takes the free kick.
63:33 Substitution Robbie Savage leaves the field to be replaced by Dave Martin.
63:33 Foul by Jay Emmanuel-Thomas on Robbie Savage, free kick awarded.
63:05 Centre by James Coppinger, save made by David Martin.
59:00 Free kick awarded for a foul by Elliott Ward on Rob Hulse. Strike comes in from Michael Tonge from the free kick.
57:27 Robbie Savage concedes a free kick for a foul on Mark Wilson. The ball is sent over by John Oster, James Hayter produces a right-footed shot from inside the area that clears the bar.
55:40 Corner taken right-footed by Michael Tonge from the right by-line to the near post, clearance made by John Oster.
50:40 Michael Tonge fouled by Jay Emmanuel-Thomas, the ref awards a free kick. Free kick crossed by Michael Tonge, clearance made by Elliott Ward.
45:24 Inswinging corner taken right-footed by Michael Tonge played to the near post, clearance made by James Coppinger.
45:01 The referee blows his whistle to start the second half.
Half Time
45:00+1:05 The ref blows to end the first period.
45:00 Substitution (Derby) makes a substitution, with Gilles Sunu coming on for Steve Davies.
44:37 Billy Sharp takes a shot. Save made by David Martin.
43:08 The assistant referee signals for offside against Rob Hulse. Free kick taken by Gareth Roberts.
41:24 James Coppinger takes a shot.
40:04 Nicky Hunt crosses the ball.
31:12 James Coppinger produces a curled right-footed shot from deep inside the penalty area which goes wide of the right-hand post.
26:29 James Chambers fouled by Michael Tonge, the ref awards a free kick. Free kick taken by Neil Sullivan.
25:43 Foul by James Coppinger on Paul Green, free kick awarded. David Martin restarts play with the free kick.
24:19 Rob Hulse gives away a free kick for an unfair challenge on James O'Connor. Neil Sullivan restarts play with the free kick.
24:08 Billy Sharp is caught offside. David Martin takes the indirect free kick.
23:24 Shot by Rob Hulse from inside the box bounces off the post.
22:01 Michael Tonge takes a shot. Blocked by Gareth Roberts.
21:13 Unfair challenge on James Coppinger by Steve Davies results in a free kick. Direct free kick taken by Mark Wilson.
20:19 Elliott Ward fouled by Steve Davies, the ref awards a free kick. Direct free kick taken by James O'Connor.
20:05 The referee blows for offside. Indirect free kick taken by David Martin.
19:01 The referee blows for offside. Free kick taken by David Martin.
17:00 The assistant referee flags for offside against Steve Davies. Gareth Roberts takes the free kick.
15:40 Rob Hulse is caught offside. Indirect free kick taken by Neil Sullivan.
15:14 James Coppinger takes a shot. David Martin makes a save.
14:32 Unfair challenge on Paul Green by James Chambers results in a free kick. Robbie Savage delivers the ball from the free kick right-footed from left wing, save made by Neil Sullivan.
14:01 GOAL - Billy Sharp:Doncaster 1 - 0 Derby Billy Sharp scores a power penalty. Doncaster 1-0 Derby.
13:13 Booking The referee cautions Jake Buxton for unsporting behaviour.
12:43 Penalty awarded for a foul by Jake Buxton on Billy Sharp.
9:50 The ball is swung over by James Coppinger, James McEveley makes a clearance.
9:15 Corner taken by John Oster from the left by-line played to the near post, clearance made by Nicky Hunt.
7:53 Free kick awarded for a foul by Robbie Savage on James Hayter. John Oster produces a cross, Elliott Ward takes a shot. Shaun Barker gets a block in.
6:26 The assistant referee signals for offside against Steve Davies. Free kick taken by Neil Sullivan.
4:42 James Coppinger decides to take the corner short.
2:09 Jake Buxton fouled by Billy Sharp, the ref awards a free kick. Free kick taken by Shaun Barker.
0:00 The match gets underway.
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