Plymouth left wing Tom Jarvis capitalised on a Doncaster fumble to run in the winning try from half-way.
Albion took an early lead through two Kieran Hallett penalties.
Doncaster hit back with a try through number eight Chris Planchant and kept up sustained pressure throughout the first half.
A try by Albion prop Jane du Toit made it 14-8 at half-time, before Knights centre Hudson Tonga'uiha went over three minutes into the second half.
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