An injury-time header from Bradley Wright-Phillips gave struggling Plymouth a vital win to dent Doncaster's play-off hopes.
The home side dominated the match and went ahead when James Coppinger fired home just before the hour.
Plymouth's decision to bring on Joe Mason paid instant dividend when the striker levelled from close range.
James Hayter hit the bar for Rovers before Wright-Phillips' header from a free-kick gave Argyle the points.
Despite the win, Plymouth remain in the bottom three but are now three points behind 21st-placed Watford, who drew 1-1 at Preston.
One of the few highlights of the past few weeks for Plymouth has been the form of goalkeeper David Stockdale, and they were again indebted to him for his role in this win.
He produced a string of saves to deny the home side, including tipping a Coppinger shot over the bar in the first half and parrying a header from Jay Emmanuel-Thomas in the second.
However, he could do nothing about the opener from Coppinger, who fired in after being found by James Hayter.
Plymouth's response though was quick, thanks largely to substitute Mason, who finished well after being found by Damien Johnson's cross.
With 11 minutes remaining Doncaster came agonisingly close to going back in front when James O'Connor backheeled to Hayter who smashed the ball against the crossbar.
However, it was the visitors who stole the points in the first minute of stoppage time when Wright-Phillips got on the end of Onismor Bhasera's free-kick to send the visiting Green Army into raptures.
Rovers boss Sean O'Driscoll: "I thought we were lacklustre the whole game. The standards we set, we didn't do what we need to do.
"It was as poor as we have played since the 3-3 with Ipswich (in September). We had a big chance with a big potential prize and it was poor."
Plymouth assistant head coach John Carver: "Everyone is ecstatic. The way the game started we were a bit concerned. They looked good.
"But we got in at 0-0, which was good, and then conceded that goal. A lot of teams can feel sorry for themselves in that position.
"But the guys are committed to the cause, played some good football and got back in there."
90:00+5:14 The referee blows for the end of the match.
90:00+3:20 Corner taken by James Coppinger from the right by-line, Sam Hird has an effort from just inside the box that misses to the left of the goal.
90:00+1:29 Booking Bradley Wright-Phillips is booked.
90:00+0:31 Onismor Bhasera provided the assist for the goal.
90:00+0:31 GOAL - Bradley Wright-Phillips:Doncaster 1 - 2 Plymouth Bradley Wright-Phillips grabs a headed goal from inside the penalty area. Doncaster 1-2 Plymouth.
89:43 Free kick awarded for a foul by Jordon Mutch on Jamie Mackie. The ball is crossed by Onismor Bhasera,
87:33 Substitution Adam Lockwood is brought on as a substitute for Gareth Roberts.
87:23 Effort from the edge of the area by John Oster goes wide of the right-hand upright.
85:45 Reda Johnson fouled by Jay Emmanuel-Thomas, the ref awards a free kick. David Stockdale restarts play with the free kick.
85:16 Bradley Wright-Phillips sends in a cross, clearance by Gareth Roberts.
83:35 Gareth Roberts sends in a cross, save made by David Stockdale.
82:14 Jay Emmanuel-Thomas takes a shot from just outside the penalty area clears the crossbar.
Correction - 80:52 Substitution Alan Judge goes off and Kenny Cooper comes on.
80:52 Substitution Kenny Cooper joins the action as a substitute, replacing Alan Judge.
79:58 James Hayter takes a shot.
78:39 Joe Mason handles the ball and concedes a free kick. Neil Sullivan takes the direct free kick.
76:32 Substitution Jordon Mutch joins the action as a substitute, replacing Dean Shiels.
76:32 Substitution Sam Hird comes on in place of James Chambers.
76:18 Jamie Mackie crosses the ball.
74:37 The referee penalises Bradley Wright-Phillips for handball. Free kick taken by Neil Sullivan.
74:29 Onismor Bhasera sends in a cross.
74:17 Onismor Bhasera produces a cross, Mark Wilson makes a clearance.
73:51 The assistant referee flags for offside against Bradley Wright-Phillips. Shelton Martis takes the free kick.
70:34 Headed effort from deep inside the penalty area by James Hayter misses to the right of the target.
69:34 Foul by Alan Judge on James Hayter, free kick awarded. Free kick taken by Gareth Roberts.
69:06 James Coppinger takes a outswinging corner to the near post, clearance by Reda Johnson.
68:48 The ball is delivered by James Hayter, Jay Emmanuel-Thomas takes a shot. Save by David Stockdale.
66:57 Assist by Damien Johnson.
66:57 GOAL - Joe Mason:Doncaster 1 - 1 Plymouth Joe Mason finds the back of the net with a goal from deep inside the penalty box to the bottom left corner of the goal. Doncaster 1-1 Plymouth.
66:18 Onismor Bhasera sends in a cross, Damien Johnson takes a shot. Save made by Neil Sullivan.
64:42 Jamie Mackie concedes a free kick for a foul on Shelton Martis. Free kick taken by Neil Sullivan.
64:29 Jay Emmanuel-Thomas has an effort at goal from outside the penalty area which goes wide right of the goal.
63:24 Free kick awarded for a foul by Reda Johnson on James Hayter. John Oster restarts play with the free kick.
62:43 Bradley Wright-Phillips is flagged offside by the assistant referee. Neil Sullivan takes the indirect free kick.
60:37 Substitution Joe Mason joins the action as a substitute, replacing Yannick Bolasie.
57:36 The assist for the goal came from James Hayter.
57:36 GOAL - James Coppinger:Doncaster 1 - 0 Plymouth James Coppinger gets on the score sheet with a goal from inside the penalty area to the bottom left corner of the goal. Doncaster 1-0 Plymouth.
55:56 Jay Emmanuel-Thomas has an effort at goal and missed to the right of the net.
54:49 The ball is delivered by Gareth Roberts, Jay Emmanuel-Thomas takes a shot. David Stockdale makes a save.
53:54 Jay Emmanuel-Thomas takes a shot. David Stockdale makes a save.
53:13 The official flags Jamie Mackie offside. James O'Connor takes the indirect free kick.
52:48 Foul by Reda Johnson on James Hayter, free kick awarded. John Oster takes the free kick.
50:33 The ball is crossed by Bradley Wright-Phillips, Chris Clark has an effort at goal from just inside the box that misses to the right of the goal.
49:14 Damien Johnson gives away a free kick for an unfair challenge on James Hayter. James O'Connor takes the free kick.
49:01 Centre by Bradley Wright-Phillips, clearance by John Oster.
47:38 Bradley Wright-Phillips gives away a free kick for an unfair challenge on Mark Wilson. Free kick taken by Mark Wilson.
46:40 Free kick awarded for a foul by Alan Judge on James Hayter. John Oster takes the free kick.
45:01 The game restarts for the second half.
Half Time
45:00+2:11 The ref blows to end the first period.
45:00+1:20 James Chambers challenges Yannick Bolasie unfairly and gives away a free kick. David Stockdale takes the direct free kick.
45:00+0:48 The ball is swung over by Alan Judge, save made by Neil Sullivan.
43:42 Effort from the edge of the area by James Coppinger goes wide of the right-hand upright.
43:35 The ball is delivered by Jay Emmanuel-Thomas, Bondz N'Gala makes a clearance.
Correction - 42:34 Jamie Mackie concedes a free kick for a foul on Dean Shiels. Free kick taken by Gareth Roberts.
42:34 Jamie Mackie concedes a free kick for a foul on Dean Shiels. Gareth Roberts takes the free kick.
41:25 John Oster takes the outswinging corner, Reda Johnson makes a clearance.
41:04 The ball is swung over by Dean Shiels, David Stockdale makes a save.
39:07 Shot from just outside the box by James Hayter misses to the right of the target.
37:40 Mark Wilson concedes a free kick for a foul on Damien Johnson. Free kick taken by Karl Duguid.
36:50 James Coppinger crosses the ball, clearance made by Reda Johnson.
36:17 The official flags James Hayter offside. Free kick taken by David Stockdale.
35:52 Dean Shiels takes a inswinging corner from the left by-line to the near post, clearance by Reda Johnson.
35:22 The assistant referee signals for offside against Bondz N'Gala. Indirect free kick taken by Neil Sullivan.
34:48 Foul by John Oster on Damien Johnson, free kick awarded. Alan Judge restarts play with the free kick.
34:08 The offside flag is raised against Dean Shiels. David Stockdale restarts play with the free kick.
33:44 Free kick awarded for an unfair challenge on John Oster by Alan Judge. John Oster takes the free kick.
33:21 Jay Emmanuel-Thomas takes a shot. Save by David Stockdale.
33:14 The ball is delivered by Gareth Roberts, Reda Johnson makes a clearance.
32:19 Jamie Mackie gives away a free kick for an unfair challenge on Mark Wilson. Direct free kick taken by Gareth Roberts.
31:16 Bradley Wright-Phillips is caught offside. Shelton Martis restarts play with the free kick.
30:55 The ball is swung over by James Chambers, save made by David Stockdale.
30:22 John Oster sends in a cross, clearance made by Karl Duguid.
28:47 Yannick Bolasie concedes a free kick for a foul on James Coppinger. James Coppinger restarts play with the free kick.
28:28 Gareth Roberts crosses the ball, Bondz N'Gala manages to make a clearance.
27:46 Unfair challenge on James O'Connor by Jamie Mackie results in a free kick. James O'Connor takes the free kick.
24:52 Effort on goal by John Oster from just inside the penalty area goes over the target.
24:24 Jay Emmanuel-Thomas crosses the ball, clearance made by Reda Johnson.
23:26 Foul by Bradley Wright-Phillips on James O'Connor, free kick awarded. James O'Connor takes the free kick.
23:04 Gareth Roberts gives away a free kick for an unfair challenge on Alan Judge. David Stockdale restarts play with the free kick.
Correction - 20:26 The ball is swung over by James Coppinger, Header by James Hayter from deep inside the penalty area misses to the left of the target.
20:26 The ball is sent over by James Coppinger, Headed effort from inside the area by James Hayter misses to the left of the target.
19:48 The ball is sent over by Karl Duguid, Reda Johnson takes a shot. Neil Sullivan makes a save.
18:41 Alan Judge takes the inswinging corner, clearance made by James O'Connor.
17:35 Corner taken by John Oster from the right by-line played to the near post, clearance made by Damien Johnson.
17:02 James Coppinger takes a outswinging corner to the near post, clearance by Onismor Bhasera.
16:44 James Coppinger takes a shot. Save by David Stockdale.
15:32 Unfair challenge on John Oster by Damien Johnson results in a free kick. James O'Connor restarts play with the free kick.
14:32 Jay Emmanuel-Thomas concedes a free kick for a foul on Onismor Bhasera. Direct free kick taken by David Stockdale.
14:06 John Oster crosses the ball, Onismor Bhasera manages to make a clearance.
12:00 Corner taken by John Oster from the right by-line played to the near post, Effort from deep inside the area by James Hayter misses to the right of the target.
11:54 The ball is swung over by James Chambers, Reda Johnson manages to make a clearance.
11:25 Free kick awarded for a foul by Karl Duguid on Dean Shiels. John Oster restarts play with the free kick.
10:00 The ball is swung over by John Oster.
9:35 The ball is sent over by James Coppinger, clearance made by Bondz N'Gala.
7:58 Mark Wilson takes a shot. Comfortable save by David Stockdale.
7:42 Reda Johnson takes a shot. Save made by Neil Sullivan.
7:21 Chris Clark takes a shot. Blocked by Mark Wilson.
5:58 Yannick Bolasie sends in a cross, save by Neil Sullivan.
4:51 Unfair challenge on James Hayter by Bondz N'Gala results in a free kick. Dean Shiels restarts play with the free kick.
3:40 Free kick awarded for an unfair challenge on James O'Connor by Jamie Mackie. Neil Sullivan takes the direct free kick.
1:31 The official flags Yannick Bolasie offside. Neil Sullivan takes the indirect free kick.
0:00 The referee gets the game underway.
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