The striker, on as a substitute, touched in a cross from James Henry for only his second goal of the season to finally see off a dogged Doncaster side.
The hosts, who are pushing for a place in the play-offs, could have opened the scoring in the eighth minute but skipper Alan Dunne's header flew over.
Liam Trotter thought he had put Millwall into the lead in the 39th minute when his downward header from Henry's free-kick hit the back of the net, but his celebration was cut short by the linesman's offside flag.
Ryan Mason fired wide and Steve Brooker sent his shot too high as Rovers sensed the possibility of a surprise victory against a Millwall side beaten by the last kick of the game at Norwich in midweek.
But this time it was the Lions who were celebrating courtesy of Lisbie, who came on as a substitute in the 58th minute. The former Charltion striker got the slightest of touches from Henry's cross at the death to secure yet another home win for the Lions.
Source: PA
Source: PA