SUBSTITUTE goalkeeper Marko Marosi was the hero by denying Tom Naylor during the penalty shootout to send Doncaster Rovers through at the Keepmoat.
Cameron Stewart struck the decisive penalty as the hosts progressed to the second round.
Paul Dickov named four changes from the side that beat Fleetwood Town on Saturday, with James Coppinger, Richard Chaplow and Andy Williams dropping to the bench. The newly promoted Brewers enjoyed the majority of possession during a quiet first half, but failed to take their chances.
Thorsten Stuckmann produced a superb stop to keep out a powerful header from Anthony O’Connor.
The only bright spark for Rovers before the break was when youngsters Liam Mandeville and Jack McKay linked up well, the latter having his scissor-kick blocked behind for a corner.
Moments after being introduced, Jerome Binnom-Williams weaved past Cedric Evina before cutting inside and fizzing the ball across the face of goal, only for the stretching Lucas Akins to direct his effort wide of the target.
The hosts almost stole the spoils but Curtis Main blazed his effort marginally over the bar.
Doncaster Rovers: Stuckmann (Marosi 45), Lund, Butler, McKay, Evina, Stewart, Keegan (Chaplow 45), Middleton, Whitehouse, Mandeville (Williams 72), Main. Unused substitutes: Williams, Mackenzie, Coppinger.
Burton Albion: Matthews, Laylor, O’Connor, Flanagan, McCrory, Akins, Butcher (Reilly 52), Weir, Duffy (Binnom-Williams 60), Palmer, Joachim. Unused substitutes: McLaughlin, Thiele, Austin.
Referee: Ross Joyce (Cleveland)