Rovers were promoted via the Vanarama National League play-offs last season, securing an immediate return to the Football League with a penalty shoot-out win over Grimsby Town at Wembley.
They are managed by Darrell Clarke and their current number one is ex-Cheltenham goalkeeper Will Puddy, who made one senior appearance for the Robins in League One six years ago having progressed through the youth ranks.
Cheltenham will also be at home to higher level opposition on Tuesday, July 21 and Saturday, July 29, with full details to be announced shortly.
Confirmed pre-season friendlies:
Saturday, July 11: Cirencester Town (a), 3pm
Tuesday, July 14: Evesham United (a), 7.45pm
Saturday, July 18: Weston-super-Mare (a), 3pm
Saturday, July 25: Bristol Rovers (h), 3pm
Saturday, August 1: AFC Wimbledon (a), 3pm
The new Vanarama National League campaign kicks off on Saturday, August 8.
The fixtures will be released on Friday, July 3.