Firefighters say the caravan was deliberately set on fire at 8:30pm on Friday on Planet Road, Adwick le Street.
A fire engine from Adwick station was sent to the incident. The crew left the scene at 9:05pm.
Firefighters are asking the public to help them crack down on deliberate fires across the county, by reporting incident details to a new fire line.
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In response to the 3,900 deliberate fire incidents they were called to in last year, South Yorkshire Fire & Rescue joined FireStoppers, which works in the same way as Crimestoppers, allows the public to anonymously report any information they have on deliberate fire-setting.
Call 0800 169 5558, or an online form – www.firestoppersreport.co.uk. Once reported, the details will be anonymised and used as part of fire and police investigations.
Figures showed 1,116 deliberate fires in Doncaster in the last years