It had looked set to be a senior Football League debut to remember for Tyler Smith as he came off the bench to score twice to overturn an early opener from Brayford.
But the Burton centre-back pounced again in the 90th minute to secure a point for the Brewers.
Burton made a superb start to the game, mounting waves of attacks with Lucas Akins striking a post.
And they made their early dominance count after eight minutes when Brayford produced a lob over goalkeeper Marko Marosi from a flicked-on corner.
Doncaster finally found a foothold in the game but struggled to create opportunities, sparking a double substitution at the break which saw Smith introduced.
And just nine minutes into his debut he planted a header in off a post to equalise.
John Marquis missed a glorious opportunity to put Doncaster in front when he drilled over the crossbar after rounding Brad Collins.
But Smith atoned on his behalf as he raced onto a ball over the top and finished confidently past Collins in the 75th minute, only for Brayford to pounce late on.