The irony won't be lost on Rovers boss Paul Dickov, who saw his side relegated after just one season, with Brentford one of the teams replacing them.
It was a late, late goal by Birmingham City at Bolton that sent Doncaster straight back down to League One, while Brighton & Hove Albion snatched the final play-off place from Reading.
Doncaster never really looked like scoring at champions Leicester City, who won the game thanks to David Nugent's penalty midway through the second half.
Birmingham, who needed to better Rovers' result to survive, looked dead and buried at Bolton until Paul Caddis swooped to head home in injury time to make it 2-2 and ensure they stay up on goal difference.
Millwall, who were also in danger of going down, beat Bournemouth 1-0 at the New Den, while fellow relegation rivals Blackpool survived despite going down 3-0 at home to Charlton Athletic.
At the top, Jose Ulloa's 92nd-minute strike earned Brighton a 2-1 win at Nottingham Forest.
And with Reading only managing a 2-2 draw against promoted Burnley, it meant Albion sneaked sixth place by a single point.
Brighton will face Derby for a place in the play-off final. Steve McClaren's side, who were already guaranteed third place, ended the regular season with a 1-1 draw at Leeds United.
Wigan Athletic, already assured a play-off place, lost 4-3 at Blackburn Rovers and will face Queens Park Rangers, who edged Barnsley 3-2.
Ipswich finished ninth with a 2-1 over Sheffield Wednesday at Portman Road, while Middlesbrough claimed a top-half finish by thrashing relegated Yeovil Town 4-1 at Huish Park.
Watford ended a disappointing season by going down to the same score at home to Huddersfield Town.