Tony Joyce made two changes from Tuesday's draw at Kidlington, Sidik Atcha and Chief Boateng both getting their first starts for the club, Jordan Slama and Emmanuel Dahie making way.
The first half was a fiercely contested encounter, both teams feeling they could have opened the deadlock. Ben Baker had a couple of opportunities go begging, whereas Peter Denton was holding firm in the Rovers net.
The game was always going to have goals, and the hosts opened the scoring in emphatic style. Wing back George Ball picked up the ball on the half way line before travelling 20 yards and firing into the far corner.
Rovers kept knocking on the door, Baker once again looking dangerous up top but couldn't find the equaliser.
Tony Joyce introduced Ayomide Akinbobola to the action, who grabbed a late leveler v Kidlington on Tuesday night. The winger was to do the same again, picking the ball up out wide he cut inside and fired in to the bottom corner.
Rovers' tails were up, and the game was opening by the minute. The game went into stoppage time, where Robbie Goodman had a great chance to win it. A goal kick from Peter Denton went over the Daventry back line but the skipper could only volley into the side-netting.
Rovers were to rue their missed chances, as Daventry grabbed the winner in the 93rd minute. An initial shot was saved by Peter Denton, but striker Luke Emery poked home as the ball trickled over the line.
A game in which all three results could have happened, but Rovers come away with nothing. Next up is a trip to North Leigh on Tuesday evening.