Goals from Billy Sharp, James Hayter and Joe Mills gave Rovers a comfortable win, with the Iron not looking like getting back into the match.
The match had been delayed by 55 minutes as there was not enough ambulance cover at the stadium, but Baraclough did not blame the wait.
While the 978 travelling fans may not be so sure, he felt Scunthorpe were the better side in the opening period.
"We should have been in front before they scored when Jonathan Forte went through with only the keeper to beat but we only have ourselves to blame for not making the most of our chances," he said.
"We started brightly and I have no complaints about that because we put Doncaster on the back foot and forced them to play the ball long a bit more often than they normally do.
"We seemed to have a foothold in the game, but then we gave away a soft goal and within 20 minutes we were suddenly 3-0 down. It's then that you have to show strength of character, but people seemed to go in to their shells a little bit and that's something we need to improve."
Sean O'Driscoll, the Doncaster boss, felt his side had room for improvement despite the resounding win.
"I think we can play better than that although our finishing was different class. It makes a difference in any league if you can create chances and stick them away," he said.
"Scunthorpe have the second best away record in the league and they are no mugs but our attitude was first class in the way we approached the game after the delayed start."