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.
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Interview: Cheltenham Town chairman Paul Baker
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).
