The 29-year-old loosehead prop will complete his move to the Coventry-based club at the end of the current Greene King IPA Championship season.
Knights captain Hislop, who came through at Edinburgh Rugby, arrived at Castle Park from Rotherham in 2018 and quickly became a fans’ favourite.
He was a member of the Rugby Paper’s 2020 Greene King IPA Championship Dream Team and spent time on loan with Saracens at the end of last season.
Hislop said: “I’m delighted to be joining Wasps and am really looking forward to the challenge ahead, but would firstly like to say a massive thank you to Doncaster.
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“The club has been huge in developing me both as a player and as a bloke.
“I’ve thoroughly enjoyed my time with Doncaster and it’s been a privilege to represent this great club. I’m excited to finish this season and go out on a real high.”
Knights head coach Steve Boden said: “Bomber has been a great Doncaster Knight, always committed both on and off the field. We are really happy that Robin has developed his game at Doncaster and has been rewarded with this opportunity for him and his family.”
Knights could still reach the Championship play-off final but whether they finish in the top two could hinge on their trip to leaders Ealing Trailfinders on May 22.