The South Yorkshire derby finished with honours even but Rovers will be the most disappointed after conceding in the final minute.
Rovers went into the game without leading goalscorer Billy Sharp who was ineligible to play against his parent club.
Replacing him in attack was James Hayter.
Rovers took the lead inside five minutes when Sharp`s replacement James Hayter scored from close range.
Hayter was giving the United defence a number of problems and went close to increasing the lead three times inside the opening twenty minutes, the last of the three efforts really should have doubled the lead when he headed wide when unmarked inside the six yard box.
The home side went in at half time one goal to the good.
Sheffield United equalised in the final minute of normal time when James Harper got on the end of a Taylor free kick.
James Hayter missed a great chance to win it late on for Rovers but his shot went over the bar.
Rovers will be disappointed to have lost two points late on after dominating the first half.
Teams
Doncaster
Sullivan, O`Connor, Chambers, Roberts, Martis, Oster, Coppinger, Emmanuel-Thomas, Hayter, Woods, Wilson
Subs
Smith, Hird, McDaid, Lockwood, Shiels, Mutch, Spicer
Sheffield United
Simonsen, Connolly, Nosworthy, Seip, Stewart, Yeates, Montgomery, Harper, Quinn, Camara, Cresswell
Subs
Bennett, Lowton, Taylor, Fortune, Bartley, Little,
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