The Wildcats allowed four of their players to be dual-registered with Doncaster this year, with the quartet playing a key role in the South Yorkshire club's Championship One title win.
Players will again be dual-registered next season, while the two clubs will work together on commercial projects.
"As a club we're over the moon to go in to partnership with Wakefield who was arguably the most improved club in the Super League competition last season," said Doncaster chief executive Carl Hall.
Doncaster coach Tony Miller is to work alongside opposite number Richard Agar at some of Wakefield's games as part of the deal, while Wildcats' coaches will assist with Doncaster's training.
- Sports & Recreation