Doncaster were denied all three points when ex Rovers loan player Ross McCormack salvaged a late point for Cardiff.
In Rovers first home game in the second tier of English football in fifty years almost 12,000 turned up to cheer the Rovers on.
Doncaster started much the better team, Hayter shot wide and Wellens had a shot deflected for a corner in the opening ten minutes.
Cardiff slowly got into the game and forced two good saves from Rovers keeper Neil Sullivan in quick succession half way through the half.
The veteran keeper tipped away a cross from Mcnaughton and quickly followed this by producing an excellent reflex save from Paul Parry.
Doncaster quickly regained control of the game and an excellent long range shot from Gareth Taylor was saved well by Heaton in the Cardiff goal.
The start of the second half was a battle between the two midfields, neither side getting the chance to test out the keepers.
Rovers eventually took the lead half way through the half when in form striker Lewis Guy got on the end of a precise through ball and lashed the ball past Heaton.
Doncaster continued to be the only side creating chances and Taylor headed wide after good work from O`Connor.
Cardiff eventually got their equaliser with only two minutes left on the clock when a terrible mix up in the Rovers defence saw keeper Sullivan and defender Lockwood collide inside the six yard box.
The ball ran free for Cardiff forward Ross McCormack to slot into an empty net to the delight of the travelling Cardiff fans.
The referee added four minutes on at the end of the game with neither team getting the chance to force a winner.
Doncaster will be disappointed to only gain a point from a game they controlled for long periods, although they will be happy with a return of four points from two difficult games at the start of the season.
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