Kuffour stepped off the bench on the hour and a minute later scored the equaliser after Aaron Lescott had slid the ball into his path.
Rovers made an impressive start and hit the crossbar twice through Chris Lines and Rickie Lambert in the first four minutes.
But they fell behind 60 seconds later. Andy Welsh took a right-wing corner and skipper Terry Skiverton was left unmarked at the far post to head in.
Skiverton turned villain in the 38th minute when he handled a corner from the left by Stuart Campbell and Lambert hammered in the resulting penalty.
In first-half stoppage time Gary Roberts restored Yeovil's lead with a drive from the edge of the penalty area after good work by Danny Schofield, but Kuffour was on hand to haul Rovers level just moments after replacing David Pipe.