Mansfield Town will play newly-promoted Championship side Rotherham United in a pre-season friendly at One Call Stadium on Saturday 28 July (3.00pm kick-off).
The Millers will feature in the Championship next season, after defeating Shrewsbury Town 2-1 in the League One play-off final at Wembley earlier this month.
Paul Warne's side finished fourth in League One last season.
Stags will also face Sheffield United in a friendly on Saturday 21 July (3.00pm kick-off), and Sheffield Wednesday on Tuesday 24 July (7.30pm kick-off).
Ticket information for pre-season fixtures will be announced in due course.
