Doncaster failed to break down a resilient Cheltenham, who held out for a goalless draw in their rearranged FA Cup third-round tie at Whaddon Road.
Rovers dominated the first half but the visitors went close when David Bird's header was saved by Neil Sullivan.
After the break, Doncaster striker Paul Heffernan saw his shot hit the inside of a post and roll along the goal-line.
Doncaster were completely on top but Sullivan had to save at the feet of Bird to deny Town an unlikely victory.
The replay will take place at the Keepmoat Stadium on 20 January with the winners at home to Aston Villa.
Cheltenham: Brown, Lindegaard, Gallinagh, Ridley, Wright, Bird, Westlake, Russell, Owusu, Hammond (Finnigan 73), Hayes (Connor 58). Subs Not Used: Puddy, Duff, Gill, Watkins, Durrant.
Booked: Lindegaard, Owusu.
Doncaster:
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Att: 4,417
Ref: Neil Swarbrick (Lancashire).
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