Swindon took the lead after only 9 minutes with a good goal from 15 yards from Brian Howard that left the Rovers 'keeper with no chance.
On 23 minutes Bristol Rovers made it 1-1 when from a corner Junior Agogo scored.
On 35 minutes Bristol Rovers took the lead, when they broke though with only Jerl Ifil and Rhys Evans to beat, Ifil fouled Agogo in the box, and the referee awarded Rovers a penalty, which Jamie Forrester scored.
At half time Andy King made a number of subs including bringing on trialist Danny Sommer who has played for Sheffield Wednesday in the past. Sommer had a good game and came close to scoring.
With 15 minutes to go Andy King bought on youth team player Andy Caton and within a couple of minutes Caton had scored with a close range goal to make the final score 2-2.
Swindon have one more friendly game left - at home to Premiership side Southampton at the County Ground on Tuesday evening with a 7.45pm kick off.