Will Hoskins struck two minutes from time to earn Watford a first home win in four months and a place in the Carling Cup second round.
Hoskins, making only his seventh Hornets start since signing in January 2007, raced on to Billy Gibson's pass and calmly fired past Steve Phillips.
Rovers were left to rue missed chances, with Jeff Hughes taking too long to shoot in the first half.
And David Pipe went close in the second half, his lob dropping narrowly wide.
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Watford: Loach, Doyley, Bromby, Mariappa, Sadler, Ainsworth (Young 58), Francis (Bangura 71), Jenkins, Harley (Gibson 71), Hoskins, Robinson. Subs Not Used: Poom, Avinel, Parkes, Henderson.
Goals: Hoskins 88.
Att: 5,574
Ref: Dean Whitestone (Northamptonshire).
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