Richard Horne’s side led 12-4 after an hour as they went in search of a sixth straight win in Betfred League One.
But two Hunslet tries turned the game on its head in the final quarter.
Ross Peltier was sin-binned in the dying moments and the resultant penalty extended the home side’s lead to 18-12, leaving Doncaster staring down the barrel of their first defeat since the opening weekend at Keighley.
But Beharrell had other ideas as he forced his way over the line after 79 minutes and then converted his try to ensure a share of the spoils.
Doncaster Rovers player ratings from the dramatic draw at AFC Wimbledon
Recap as Doncaster Rovers produce stirring comeback to draw at AFC Wimbledon
Gary McSheffrey delivered this verdict following Doncaster Rovers' late show at AFC Wimbledon
Doncaster Rovers: Birthday boy Gary McSheffrey has got the buzz for his unexpected management shot
The Doncaster Rovers team expected to take on AFC Wimbledon
The game had remained deadlocked at 0-0 at half time before tries from Liam Johnson and Aaron York put the Dons ahead.
Doncaster have dropped to third in the table as a result of Workington Town’s victory over Rochdale.