The Arnott Insurance Northern League champions booked their place in the second round for the first time after trouncing Steve Wignall's side 4-1 at Welfare Park.
The striker John Milner scored twice for the Terriers, against a side containing the former Tottenham midfielder Jason Dozzell, to earn a trip to Scunthorpe in the next round.
"We would have liked another home draw," said the Terriers joint manager, Keith Perry. "But if we can play the same way at Scunthorpe who knows what might lie ahead."
David Penney grabbed the goal which saw Doncaster, relegated out of the Football League last season, embarrass Southend at Roots Hall to set up a second round tie at home to fellow Conference side Rushden & Diamonds. It was the first time Rovers had reached the second round since 1989 and a blow for the Shrimpers manager, Alvin Martin, a Cup winner with West Ham in 1980.
Another man to have tasted Wembley glory in this competition is the former Ipswich and Arsenal player Brian Talbot, now manager of Rushden & Diamonds. He enjoyed more success thanks to Paul Underwood's only goal of the game at home to Shrewsbury - but claims promotion from the Conference is far more important.
Hednesford, who were beaten by the eventual finalists Middlesbrough in the fourth round two seasons ago, were at it again with a 3-1 defeat of Third Division Barnet to earn a trip to Cardiff for the Conference club.
Tamworth were within a minute of victory at Exeter before the Devon side fought back to snatch a 2-2 draw. There was the same score at Macclesfield, who came back from two goals down against Slough.
A great fight-back by Enfield secured them a place in the second round draw, York tossing away a two-goal advantage. The winners of the replay take on Wrexham at the Racecourse Ground.