It was top-class entertainment throughout in a clash between two excellent footballing sides and a draw was a fair result at the finish.
The crowd was treated to end-to-end action all the way with former Doncaster striker Adebayo Akinfenwa setting the pattern when he fired just wide from 20 yards in the first 30 seconds of the game.
Jonathan Forte had a cracking left-foot shot tipped over the bar at the other end moments later as both sides placed the emphasis firmly on attack.
Skilful striker Lee Trundle gave Doncaster all sorts of problems at the start and he burst through to hit the post in the 14th minute.
Swansea snatched the lead five minutes later when Akinfenwa latched on to a long kick from keeper Willy Gueret before hammering the ball home in spectacular style from the edge of the penalty box.
Doncaster tried to hit back but Swansea were on top and Andy Robinson went close with a left-foot shot after spotting the keeper off his line in the 27th minute.
Doncaster hit back four minutes later when Jason Price squeezed home a low shot from the narrowest of angles following some excellent play by James Coppinger on the right.
There was no let up in the action and, after Akinfenwa had fired just wide with a shot on the turn in the 35th minute, Heffernan had Gueret at full stretch to save a minute later.
But it was Swansea who struck again just before the interval when Trundle scored from the penalty spot after Brian Stock was judged to have brought down Robinson.
Trundle went close again in first-half injury-time when he raced clean through only to see a low shot tipped away at full stretch by Ben Smith.
Doncaster took charge in the second half, although Smith had to save with his legs from Trundle in the 52nd minute before the home side equalised seven minutes later.
Heffernan's point saver was right out of the top drawer as he twisted in the penalty box before unleashing a super low shot which sailed into the bottom corner.
Both sides pressed for a winner but a draw was the fairest outcome.