Doncaster produced an excellent performance to ensure their name will at least be in the hat for the 5th Round of the FA Cup.
Veteran keeper Neil Sullivan rolled back the years with some excellent saves to deny Villa.
Gareth Roberts was the only change to Rovers midweek win and he was heavily involved in the first five minutes.
He was firstly dispossessed by Agbonlahor whose shot hit the outside netting when he was well placed, then just a few minutes later he should have put Rovers ahead when he had a clear shot at goal from six yards but put wide.
Rovers settled well and Coppinger had a long range effort just go over the bar.
Villa were struggling to settle but they really should have taken the lead on the half hour when Reo Coker`s ball into the middle was met by Agbonlahor, Sullivan made a fantastic reflex save to push the ball to safety.
Martin Woods then hit the woodwork for Rovers with a long range effort after a poor clearance from Friedel.
A good first half for Rovers was brought to an end with both Spicer and Stock having shots charged down on the edge of the area.
Martin O`Neill must have put a rocket up a few in the Villa ranks during half time because for the first thirty minutes of the second half they really should have won the tie easily.
James Milner had two good chances to put Villa in front, firstly his free kick on the edge of the area was saved and then shortly afterwards Sullivan once again produced a reflex save to keep him out.
Steve Sidwell wasted a golden opportunity when he headed wide in a good position.
Gabriel Agbonlahor had one of those days, he could of quite easily have scored a hat trick and his afternoon was summed up on 70 minutes when he was clean through on goal only to hit the crossbar.
That effort brought Rovers back to life and a double substitution that saw Heffernan and Price enter the field gave Rovers a renewed fight.
Price had a good chance soon after coming on but his glancing header went well wide of the post.
Rovers almost won the game with three minutes left when a 25 yard free kick from Woods had Friedel beaten but the ball hit the post and went wide.
Villa had one last chance, once again Sullivan produced a fantastic save to thwart Gardner and earn Rovers a replay.
The replay will take place on Tuesday 3rd February.
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