Road to be made a dual carriageway
Trees and shrubs are being cleared away along the A6182 to make way for construction crews, who are expected to move on site later in the year.
The works will run between junction three on the M18 and Ladybank junction, adjacent to the Lakeside Village shopping outlet.
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Hide AdOff-peak lane closures will be in place between junction three of the M18 and the Potteric Carr junction.
The work is expected to take up to four months.
Coun Richard Walker, council transport spokesman, said: "This is an important milestone for a major route in and out of Doncaster.
"Once complete the full scheme will improve safety, links and accessibility."