Paul Connor grabbed a late winner to ensure Cheltenham's League One survival and end Doncaster's chances of automatic promotion.
Steven Gillespie fired Town ahead after some fine build-up play with Connor.
Doncaster dominated from then on but missed a host of chances as they chased the win that would have secured the second automatic slot.
And although Paul Green levelled with a fine left-foot shot, Connor swept home Cheltenham's winner following a corner.
Matthew Mills, Mark McCammon and Brian Stock all missed decent chances for the visitors.
But their failure to take them, and Nottingham Forest's home success over Yeovil, saw Colin Calderwood's side consign Rovers to the play-offs.
Cheltenham: Higgs, Jeremy Gill, Keogh, Duff, Wright, Vincent, Bird, Russell (Armstrong 72), Scott Brown (Lindegaard 60), Gillespie (Connolly 82), Connor.
Subs Not Used: Scott P Brown, D Agostino.
Booked: Gillespie, Vincent.
Goals: Gillespie 24, Connor 85.
Doncaster: Sullivan, O'Connor, Hird, Mills, Green, Wellens, Stock, Gareth Roberts, Coppinger (Guy 74), McCammon (Heffernan 74), Taylor (Price 61).
Subs Not Used: Lee, Hayter.
Booked: Stock.
Goals: Green 76.
Att: 6,787
Ref: Lee Mason (Lancashire).
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