Seconds prior to the interval, Billy Bodin swept home from Chris Lines’ set piece for the game’s opener.
The Rovers man doubled his side’s lead after the break before Nathan Smith reduced the deficit from close range.
It didn’t remain 2-1 for long as Byron Moore neatly finished from Bodin’s through ball to restore the visitors’ two-goal advantage and round off the scoring.
Town boss Darren Way made four changes to the side that won 2-1 at Frome Town on Saturday.
Defenders Tom James, Omar Sowunmi and trialist Daniel Alfei stepped into the back four, while Southampton loanee Olufela Olomola partnered Francois Zoko up front.
The Glovers started the brighter of the two sides, pinging the ball around with precision and after a couple of half breaks, they tested Rovers stopper Adam Smith for the first time.
A sweeping break led to Olomola picking up possession from 25 yards and as he searched for the far corner with a right-footed effort, Tom Lockyer stuck out a leg to deflect it to his keeper.
Visiting forward Ellis Harrison replied with a speculative volley which ended nearer the corner flag than the goal and Tom Broadbent directed a powerful header straight at Jonny Maddison.
Bodin then took aim from distance to no avail, before Zoko’s brilliant burst to byeline and chop back inside concluded with a shot into the sidenetting.
Moments later, Harrison had a glorious chance to put the Pirates ahead but headed over from eight yards after a crisp Lee Brown delivery.
Things got a bit heated when James Bailey put in a crunching tackle in the centre circle as the first half began to tail off.
But it did end in a goal.
After Rhys Browne cynically brought down Moore on the left, Lines found Bodin in space with a clever free kick along the floor and the former Swindon Town man netted with aplomb.
Bodin had evidently found his scoring boots as he doubled Rovers’ lead after the interval.
When Harrison’s scuffed shot flew across the face of goal, the 25-year-old was on hand to poke into the net leaving the hosts hoping to see an offside flag.
Town pulled one back five minutes later when Nathan Smith knocked in Bailey’s cross from the right for his second goal in as many friendlies but their hope of an immediate comeback was short-lived when Moore flicked over Maddison for Rovers’ third.
Otis Khan was thwarted by the legs of Adam Smith as the Green and Whites searched for a way back into the match, however with substitutions being made regularly – by both teams – in the latter stages, it proved a difficult task.
Yeovil Town: Maddison, Alfei, Sowunmi (Davies 83), N.Smith, James, Browne, Bailey (Gray 78), C.Smith (Santos 78), Khan, Zoko (Trialist 83), Olomola (Trialist 83). Not Used: Krysiak, Tomlinson, Ismail, Trialist, Trialist.
Bristol Rovers: A.Smith, Leadbitter (Russe 24), Brown, Lockyer, Broadbent, Lines, Sercombe (Jones 75), Clarke, Harrison, Bodin (Ellington 70), Moore (Menayese 75). Not Used: Jonkerman.