From Doncaster bus to Mansfield. 1 h 20 min £7. From Doncaster Town Centre, Hall Gate bus to Worksop then train to Mansfield. 2 h 20 min £13. From Doncaster taxi to Mansfield. 42 min £114. From Doncaster drive to Mansfield. 42 min £6.
Yes, there is a direct bus departing from Doncaster and arriving at Mansfield. Services depart once daily, and operate every day. The journey takes approximately 1¼ hours.