The Championship 1 club have been pursuing a deal for the 30-year-old for several weeks, and have finally secured the funds to make the signing happen.
Cooke, who was unveiled as a Doncaster player at a press conference today (Thursday), will take on a full time role in the club’s community arm.
Head coach Tony Miller said: “We set our stall out to sign Paul over a month ago and we’ve finally achieved our objective.
“I’m absolutely delighted to have him at the club and I’m looking forward to working with him.
“I’m sure he’s going to be a revelation for us and his experience and presence will prove to be beneficial to the young players we have at the club.
“I’d like to take this opportunity to say a massive thank-you to the fans and supporters who have paid in to our ‘Squadbuilder’ fund – we couldn’t have done it without you.”
Cooke added: “I’d like to thank John (Scarrow), Carl, Tony and the club’s fans and supporters for bringing me back into the game.
“The decision to join the Dons was made easy by Carl and Tony who sold the club to me really well and everything fell into place with the community development side of things.
“I’ve spent a long time earning a good living from Rugby League and I now want to put something back into the game.
“On the playing side I’m really looking forward to getting back on the field again and it’s the first time I’ve got some excitement back after my mum’s illness.
“I’m hoping I can help the club make progress and get them where they need to be. It’s a good feeling to be back in Rugby League.”
He took a year out of the game in 2011, having last played for Wakefield in 2010.