Ross McCormack broke Hartlepool hearts with a last-gasp strike that extends Rovers' unbeaten run to four games.
Adam Boyd put Hartlepool ahead with his first goal since August, sweeping home Eifion Williams' right-wing cross to round off their first real attack.
Williams came close to doubling the lead, but keeper Jan Budtz tipped his long-range drive around the post.
But McCormack snatched a draw with his fourth goal in six games - an unstoppable shot from outside the box.
Hartlepool: Konstantopoulos, Darren Williams, Clark, Nelson, Humphreys, Llewellyn (Sweeney 74), Bullock, Turnbull, Clarke (Robson 63), Boyd (Tinkler 83), Eifion Williams.
Subs Not Used: Provett, Foley.
Goals: Boyd 20.
Doncaster: Budtz, Mulligan, Wheater, Lee, McDaid (Fenton 46), Green, Horlock, Price (McIndoe 70), Coppinger, McCormack, Fortune-West (Neil Roberts 70).
Subs Not Used: Ravenhill, Nielsen.
Booked: Lee.
Goals: McCormack 90.
Att: 5,459.
Ref: L Mason (Lancashire).