The Championship club has been busy in the transfer market as new head coach Steve Boden puts together his squad for the new campaign.
Former Wales Under 20s tighthead Jones had spent time with Cardiff, Pontypridd and Perpignan before making 29 appearances for Sale since March 2018.
Boden said: “Joe is proven to be able to compete at the top flight of the English game.
“He’s got a strong set-piece mindset which can provide us a solid platform. As a coaching group we feel there is lots of growth in Joe’s game to develop which will get him back to competing at the top level again.”
Jones, 24, added: “I am delighted to have signed with Doncaster Knights next season.
“After speaking to Steve (Boden), his enthusiasm and vision for where he wants the team to go was clear.
“He’s on my level and I think that’s important for getting the best out of me and to get the team to achieve what we are aiming for.
“My hopes are to nail down the starting jersey and provide a dominant set-piece throughout the season.
“We have signed a lot of quality, determined young lads who want to play which will complement the experienced boys.
“It’s a hungry squad that has been built and I hope to be a big part of it next season.”
Jones’ capture comes shortly after Doncaster announced a deal for another Welsh forward with experience at a Premiership club.
Bath back-row Jack Davies, 24, is also on board at Castle Park and looking to make his mark.
As someone who can also operate at lock, Boden is pleased with the quality and versatility Davies will bring.
“As a club we’re glad Jack has decided to join us for this season coming,” he said. “He will add real competition and versatility across the backrow.
“He’s a big man, has plenty of energy and enthusiasm and is a good lineout presence. We’re looking forward to working with Jack and seeing how he progresses his game in a Doncaster shirt.”
The former Cardiff forward said: “From what I’ve seen the recruitment and retention has been impressive and I think we can be a real force next season.”
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