The 34-year-old, named locally as Carl Queen, died after he was struck by a car as he crossed Wheatley Hall Road at around 11.15pm yesterday.
South Yorkshire Police said he suffered head injuries and was pronounced dead at the scene.
The driver of the silver Jaguar XF involved in the collision stopped at the scene.
Officers investigating the incident want to hear from witnesses or anyone with dash cam footage.
Carl was named by devastated relatives on social media.
He is said to have been out last night shortly before the collision, with his devastated cousin Danny Queen posting a photograph of him in a pub taken just two hours earlier.
Posting on Facebook, Danny said: “Love you to bits and you knew that anyway! RIP my cuz, I will never be the same again. Never cousins, always brothers. Love you.”
Cousin Rebecca Queen added: “I’m utterly shocked and upset to hear such sad news.
“RIP cuz Carl Queen. Always the joker and the cheeky chappy. Thinking of everybody as this very sad time.”
Carl’s aunt, Pam Queen, posted: “We’re all gutted, cannot believe it.”
She described him as the ‘life and soul of the party’.
Janet Barker said Carl would ‘be missed by everyone so much’ and Billie-Jo Filint added: “God only takes the best.”
Wheatley Hall Road was closed in both directions for a number of hours following the collision while investigative work was carried out at the scene.
South Yorkshire Police said: “Last night officers responded to reports of a collision at around 11.15pm on Wheatley Hall Road in Doncaster.
“It is believed that a 34 year-old man was crossing the road when he was hit by a silver Jaguar XF. The man sustained injuries to his head and was sadly pronounced dead on scene by paramedics.
“The man’s family have been informed and are being supported by specially trained officers.”
Call South Yorkshire Police on 101 and quote 1,053 of July 30.