Gary Hooper fired Scunthorpe ahead early on, but goals from loanees Jay Emmanuel-Thomas and Jordon Mutch handed Rovers the advantage heading into the interval.
Paul Hayes and Hooper twice pulled the Iron level either side of James Hayter's strike for Doncaster, before Shelton Martis had the final say with a header from Dean Shiels' 89th-minute corner.
"I think if the two teams played like that all season we wouldn't be in this division, we would be relegated," he said.
"It might have been a great spectacle for people to watch, which is fair enough at the end of the season, and there was some great attacking play at times, but there was also some comical defending from both teams.
"I think we're not as good a team as we were last year to be fair," added O'Driscoll. "We've lost two key players (Richie Wellens and Matt Mills) and we've managed really well to plug the gaps and put together a team that's competitive playing the way we want to play.
"I don't think we've played as well as we did last season but aspects of our play have been excellent and I can't fault the players' effort."
Scunthorpe manager Nigel Adkins was reluctant to discuss the future of star striker Gary Hooper after he took his tally to 19 for the season.
"There will be mass speculation about Gary Hooper all summer and we'll just have to wait and see what materialises," said Adkins. "Watch this space."
Doncaster Rovers: Sullivan, O'Connor, Hird, Martis, Roberts, Mutch (Lockwood 81), Stock (Shiels 64), Wilson, Coppinger, Hayter, Emmanuel-Thomas (Heffernan 75). Unused substitutes: Smith, Fairhurst, Dumbuya, McDaid.
Scunthorpe United: Murphy, Byrne, Mirfin (Togwell 46), Milne, Andrew Wright, Thompson (Forte 76), Sparrow, McCann, Woolford (Josh Wright 62), Hooper, Hayes. Unused substitutes: Lillis, Canavan, O'Connor, McDermott.
Referee: A D'Urso (Essex).
Rovers man of the match: J Emmanuel-Thomas.
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