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But the ball rattled the post and bounced to safety to the relief of the large contingent of travelling fans.
Seconds before the final whistle, Doncaster had another great chance to score when late substitute James Hayter raced to clean through on goal but Rachubka came to the rescue with a point-blank save.
Despite the home side having lost their last six games, Blackpool adopted a safety first policy from the start and allowed Doncaster to make the running.
It needed a last-ditch tackle from Shaun Barker to keep out Mark Wilson in the third minute and Rachubka was in action saving at full-stretch from Jason Price seven minutes later.
Steve Kabba fired wildly over the top when Blackpool carved out a rare chance in the 15th minute, before Rachubka distinguished himself again when he tipped a dipping 20-yard volley from Price over the bar.
Rachubka needed two attempts to save when Price threatened again just before the interval, but the Tangerines came into the game more into the second half.
Keith Southern missed a chance to pinch the lead when he made a hash of his shot after Kabba had set him up in the 58th minute.
Blackpool should have been awarded a penalty in the 71st minute when Adam Lockwood blatantly bundled over hard-working striker Ben Burgess but, to the amazement of the crowd, referee Darren Drysdale rejected the appeals.
Skipper Rob Edwards headed a good chance over the top in the 77th minute and Kabba somehow missed from close range seven minutes from time.
But the visitors were happy to hang on for a point after being put under the cosh by Doncaster in the closing stages.