The striker made a fitting tribute to his two-day-old son, scoring a sensational volley before lifting up his shirt to reveal an undershirt which read, "That's for you son."
Referee Darren Deadman had the sense not to book Sharp for his celebration, while there was a minute's applause for Sharp's son, Luey Jacob, ahead of the match at the Keepmoat Stadium.
El-Hadji Diouf was making his debut for Doncaster in the game and made the assist for Sharp's goal on 14 minutes, flicking the ball to the striker, who caught the ball sweetly with a brilliant dipping volley which left Middlesbrough keeper Jason Steele with no chance.
After the match, Doncaster Rovers manager Dean Saunders revealed that Sharp had asked to play and wanted to make the perfect tribute to his son.
He said, "Billy rang me on Monday night and asked to play. He wanted to score a goal for his son and his family and I couldn't refuse.
"It tells you a lot about the man and what he thinks about the club and his teammates.
"I knew what was going on all week and I also know the finer details of what happened, which is worse than you think."
Middlesbrough manager Tony Mowbray was also full of admiration for Sharp, adding: "Taking the professionalism out of it, I'm delighted for the boy that he's scored such a fantastic goal on such an occasion for him.
"It's amazing to think for anyone who's had children the emotional drain that must have been with him—I couldn't put it into words. For him to score a wonder-goal, your headlines should be there really—a goal from heaven."
See the goal here.