Curtis Main, Harry Forrester and Theo Robinson bagged the goals for Rovers who, along with the Glovers, are looking to bounce back to the Sky Bet Championship at the first time of asking.
The opening exchanges of the game were dotted with mis-placed passes as the cogs on either side shook off the rustiness of the summer break.
Main put Doncaster ahead after eight minutes. The new recruit from Middlesbrough pounced on a weak clearance, before dinking his finish past the onrushing Chris Weale.
Yeovil - featuring seven new faces in the starting 11 - were slow to start but were barked into finding a swift response by manager Gary Johnson from the sidelines.
A quick-fire leveller was almost supplied by defender Aaron Martin who rose to meet Sam Foley's corner, only to see his header ripple the side netting.
The lively Nathan Tyson proved a constant thorn in Yeovil's side in the opening half an hour and almost tucked a second past Weale, who was quick off his line again, but the finish lacked power and was easily cleared by former Southampton defender Martin.
The Somerset side's new front two struggled to click early in the first half with Kieffer Moore blazing a shot over the home terrace before the former non-league man squared for Ajay Leitch-Smith, but he could not stretch to reach the pacy pass.
Doncaster manager Paul Dickov was irked on the stroke of half time when he felt that Martin should have been shown red for tugging back the breaking Tyson, rather than the yellow brandished.
The two sides were promoted and relegated together in the past two seasons but it was Johnson who would have had the sternest words at the break as his disjointed Glovers failed to really test former loanee Jed Steer in the Rovers goal.
The early stages of second half continued in much the same manner with Yeovil wasting numerous set-pieces, much to the frustration of the home faithful - and Johnson.
Gradually, Yeovil edged themselves into contention, but the Yorkshire side were gifted a second goal as keeper Weale came racing out of his area, but was far too sluggish and arrived second to Forrester who floated his finish into the gaping net.
Johnson expressed his displeasure by hauling off Moore, Foley and James Berrett and introducing former Doncaster hero James Hayter among the trio of substitutes charged with salvaging a result. But no such onslaught of pressure arrived.
Weale failed to learn from his previous forays out of the box and was chipped for a third time in the dying seconds by substitute Robinson - cue boos from the home crowd at full time.