Winger Baxendale was dumped by home town club Rovers two years ago after making only two substitute appearances, but found the net for the first time in one year at the end of the first period.
Winger Andy Forde took a short free kick to Romaine Sawyers on the left of the box and the St. Kitts and Nevis striker cut the ball back for Baxendale to send a rocket of a shot into the far corner.
Walsall boss Dean Smith was delighted with Baxendale and said:
"Bax did what we know he can do and we've been waiting for him to do for a while. You could see his relief after scoring."
"We controlled the game. It was a very good performance."
Striker Tom Bradshaw doubled the lead in the 57th minute.
Sawyers sent a low cross over from the left flank and Bradshaw slid in to prod home his fifth goal since moving from Shrewsbury in the summer.
Forde opened his Walsall account in the 64th minute with a scorcher.
Bradshaw was bundled over by midfielder Paul Keegan on the edge of the box and Forde fired in the free kick off the upright.
Neither side had posed a real threat in the first half Until Baxendale's strike.
Rovers midfielder Harry Forrester fired a long range effort from the left wide of the far post in the sixteenth minute and central defender Paul Downing nodded a free kick from winger Andy Forde just wide in the 28th minute.
Doncaster manager Paul Dickov fumed:
"I'd like to apologise to our fans, they didn't deserve that. it's not the first time it's happened this season. Next week we'll be working hard and taking a long look at ourselves."
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