The government has written to both councils
Further "urgent action" is being taken by the government to improve children's safeguarding services at two South Yorkshire councils.
An Ofsted report last year called for urgent improvements after rating child protection in Doncaster as inadequate.
Inspectors also uncovered serious failings in child protection services at Rotherham following an unannounced check earlier this year.
The government has now written to both councils outlining areas for action.
The Ofsted report in Doncaster, which was published in December 2008, said that not enough children had allocated social workers.
The council has also been hit by severe criticism of its safeguarding performance in serious case reviews, which have been ordered into the deaths of seven children in the area since 2004.
Subsequently in March, the government ordered a takeover of the town's children's services.
Children's minister Dawn Primarolo acknowledged that improvements had been made but said ministers must now set up a new Children's Board with an independent chair, who will report directly to the government.
Rotherham's Ofsted report, which was published on 3 September, highlighted a number of areas in need of development and three priority actions which needed to be taken to keep children in the town safe.
The government has said it had issued a notice to "secure swift action to improve their children's services".
Councillor Shaun Wright, chair of the Rotherham Children's Board, said it had already been working on improvements.
Ms Primarolo said: "No child should be failed by the services that are supposed to protect them and we always act swiftly where there is evidence that a local authority is failing to deliver children's services to an acceptable level."