The 56-year-old is a former Hull City, York City and Carlisle United player and England schoolboy international.
Father of current Bristol Academy midfielder Lucy, he was recently involved with York's Centre of Excellence.
Staniforth replaces John Buckley, who left the club at the end of last season.
He said: "I am absolutely delighted to be named Head Coach of Doncaster Rovers Belles.
"I had been thinking about getting into the Women's Super League since the League was formed and I've always had a soft spot for the Belles.
"I've worked with Julie [Chipchase, Donny Belles’ Director of Football] for a number of years and we've spoken about the history of the Belles so I know all about the club and what is expected.
"My ambition involves looking at rebuilding. The club deserves success and with my coaching experience I hope I can bring a level of success back to the club.
"I really buy into Carl Lygo's [club investor] vision for the club and I just can't wait to get started.
"I've already got plans in place and am looking forward to getting out on the pitch with the team and getting ready for WSL2."