Rovers paid the price for missed chances early on as they found themselves 2-0 in the first half before substitute Ben Close halved the deficit after heading home from a corner.
Another substitute, Joe Ironside, brought Rovers level midway through the second half before Mansfield sealed the win late on after both teams missed great chances to win the game.
Scroll down for our ratings.
1. Match action
Doncaster Rovers' Ben Close celebrates his goal with Tavonga Kuleya and Deji Sotona. Photo: Andrew Roe/AHPIX LTD
2. Ian Lawlor - 6
Made some fine saves to keep Mansfield out but let himself down with some poor goalkeeping for their third goal. Photo: HOWARD ROE
3. Tavonga Kuleya - 6
Brought some energy to the wing-back role but blazed over late on when a pass out wide to his teammate was the better option. Photo: Howard Roe/ahpix.com
4. Joseph Olowu - 5
He and Faulkner started very poorly. Olowu recovered somewhat in the second half but still looked unconvincing at times. Photo: HOWARD ROE