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It was Rovers' eighth win in ten league games and no more than they deserved after playing the better football in an evenly contested match that had a high tempo.
The game was played at a fast and furious pace with the Rams rarely allowing Rovers to settle on the ball in the first half.
But when they did gain possession, Doncaster produced some slick football and Paul Heffernan forced visiting keeper Stephen Bywater to save a point-blank shot in the seventh minute.
Heffernan volleyed wide from a left-wing cross from Martin Woods soon after as Rovers kept up the pressure.
Derby's attacks were few and far between but Chris Porter fired over the top in the 14th minute after Rob Hulse had created problems for the home defence.
Hulse and Porter were otherwise well contained by Rovers' outstanding centre-back pairing of Matt Mills and Sam Hird.
Porter headed against the crossbar just before the interval following a free-kick and it was Derby who surprisingly snatched the lead five minutes after the interval.
Robbie Savage curled home a free-kick from the edge of the box but the home side's response was to re-double their efforts in a bid to fightback.
The equaliser came in the 56th minute with a superb header from Heffernan after he had latched onto a right-wing cross from Wilson.
Heffernan was unlucky not to be awarded a penalty seven minutes later when he was bundled over by Lewin Nyatanga.
But Rovers were not to be denied and they snatched the winner in the 71st minute when a corner from Brian Stock was only cleared as far as Wilson, who volleyed home from just outside the box with Bywater beaten when the ball bounced just in front of him.
It could have been worse for Derby but Bywater produced a brilliant save to deny Heffernan another goal eight minutes from time.