Last season's top scorer Gregg Blundell ended his goal famine to a huge cheer from the Doncaster Rovers fans.
Blundell notched 20 goals when Rovers won the third division championship last season but has missed countless chances during the current campaign.
But it all came right for the hard-working striker when he fired home his first of the season in the 88th minute to clinch victory.
Doncaster had a bad attack of nerves when they should have been coasting to victory after taking a 2-0 lead.
Manager David Penney also switched formations to play with a 5-4-1 line up inviting Walsall to attack after substitute Matt Fryatt had pulled one back in the 73rd minute.
Doncaster had to endure some unnecessary anxious moments in the closing stages until Blundell struck to make the game safe.
Walsall had the better chances at the start of the match but Darren Wrack slammed a shot wide in the 14th minute and Joe Broad was denied by a fine save from Andy Warrington.
Doncaster snatched the lead in the 20th minute following a clever corner kick routine which lead to Paul Green crossing from the right for Nick Fenton to force home his first goal for the club at the far post at the second attempt.
Rovers should have made it 2-0 on the stroke of half-time after being awarded a penalty when Neil Emblen handled a header from Leo Fortune-West, but Michael McIndoe's penalty kick was too close to the keeper and Mark Paston brought of a comfortable save.
McIndoe's made amends with Rovers' second goal in the 50th minute following good work by Blundell.
But the home side sat back after that and were punished when substitute Fryatt scored following good work from flying winger Daryl Taylor in the 73rd minute.
Doncaster managed to hang on with Blundell cashing in on a defensive error to seal the issue two minutes from time - although Jorge Leitao was unlucky when he hit the woodwork twice in the bid to snatch a point.