Oscar Estupinan had put the Tigers in front from close range after only three minutes.Hull City Rovers match
But Miller equalised after 15 minutes to bring the visitors level.
The Rovers striker then grabbed the winner just past the hour mark when he diverted a Harrison Biggins shot into the net via his head..Hull City Rovers match
Hull made eight changes to their team from Saturday's last-gasp defeat to Norwich City in the Championship and one of those,.Hull City Rovers match Estupinan, scored his first goal of the season after Jason Lokilo had two efforts blocked in the area.
But Luke Molyneux's deflected looped up kindly for Miller to equalise after the Tigers gave away possession in their own half.
They made that same mistake in the second half before the ball was worked back to Biggins on the edge of the box. His shot was powerful, but the little touch off Miller's head took it beyond goalkeeper Matt Ingram..Hull City Rovers match
Hull had chances to take the game to penalties through Ozan Tufan and Estupinan, but Doncaster hung on to belie a gap of 51 places on the EFL ladder last season.
Rovers finished the half well, camping in the opposition half. Broadbent sent a delicious ball over the top for Miller, whose initial touch allowed Hull keeper Matt Ingram to race out and smother the shot.
And Anderson headed wide from a corner in the last act of the half.
Lawlor produced a brilliant save three minutes into the second period as he hooked the ball off his line from a Estupinan header.
Sotona fired over the bar after a surging run forward before Rovers took the lead on 62 minutes.
Roberts cut the ball back from the byline to Harrison Biggins, who smashed a shot which Miller got in the way of to divert it home.
In the latter stages of the game, great link-up between the substitutes of Liam Delap and Ozan Tufan created the opportunity for Estupiñán, but the Colombian was denied his brace with a good block save from Lawlor.
The Doncaster goalkeeper produced another brilliant save as Regan Slater’s clever free-kick found Tufan, but Lawlor spread himself well to ricochet the ball away.
In stoppage-time, Xavier Simons played a diagonal pass towards the back post for Vaughn Covil. The winger headed the ball back across for Estupiñán who headed over from six yards.
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