It was a big boost for the relegation threatened visitors, but they really had little to beat. Injury-hit Rovers produced a dreadful display and were booed off at the finish by their angry fans.
Doncaster were missing three key strikers and reverted to a system with three centre-backs, but they looked ill at ease right from the start.
Cheltenham forced the early pace but they missed two good chances in the space of three minutes when Paul Connor fired narrowly wide with only the keeper to beat, before Denes Rosa shot straight at Neil Sullivan in the 20th minute.
Rovers were made to pay for slack defending when the Robins snatched the lead in the 34th minute.
Talented 21-year-old Steve Gillespie brushed off a weak challenge from home skipper Graeme Lee and easily went past on-loan defender Harry Worley before firing home in fine style.
Doncaster improved after the interval but they were denied a penalty by a highly controversial decision from referee Eddie Ilderton in the 52nd minute.
James Coppinger was clearly fouled by substitute Gavin Caines and should have been awarded a spot-kick, but to add insult to injury the referee booked him for diving.
Rovers went from bad to worse after that and were lucky not to concede again when the outstanding Gillespie headed against the crossbar in the 55th minute.
Cheltenham made sure of the points, when Gillespie sent substitute Kayode Odejayi racing through to outpace the lumbering home defenders and fire home his 13th goal of the season.
Doncaster never seriously extended Town keeper Shane Higgs throughout and the fans vented their feelings in no uncertain manner at the finish.