The game will be City's first at Keepmoat Stadium, the new all-seater stadium which Doncaster moved into in January after 84 years at Belle Vue.
City's last visit to the League One club was an action-packed Carling Cup tie in September 2005, which City lost on penalties after a 1-1 draw.
Tickets must be bought in advance because no cash gates will be available at the ground. They go on sale from the City Box Office on Friday, July 6, priced £10 for adults and £5 for under 16s/over 65s.