Despite two divisions and 33 places separating the two sides, it was Grant McCann's outfit who kept their nerve to win with Harry Clifton slotting home the winning penalty.
It now sets up a glamour tie with Premier League side Crystal Palace in the fourth round.
Here are just some of the Rovers fans who saw the drama unfold. Take a look and see who you know.
Get full reaction to the win – and FA Cup fourth round draw – here.
1. Hull 1 Rovers 1 (4-5 on pens)
Harry Clifton scored the winning penalty as Doncaster Rovers beat Hull CIty on penalties in the FA Cup Photo: Craig Hawkhead/AHPIX LTD
2. Hull 1 Rovers 1 (4-5 on pens)
Harry Clifton scored the winning penalty as Doncaster Rovers beat Hull CIty on penalties in the FA Cup. Photo: Craig Hawkhead/AHPIX LTD
3. Hull 1 Rovers 1 (4-5 on pens)
Harry Clifton scored the winning penalty as Doncaster Rovers beat Hull CIty on penalties in the FA Cup. Photo: Craig Hawkhead/AHPIX LTD
4. Hull 1 Rovers 1 (4-5 on pens)
Harry Clifton scored the winning penalty as Doncaster Rovers beat Hull CIty on penalties in the FA Cup. Photo: Craig Hawkhead/AHPIX LTD