The game, which will take place on Saturday, July 19 (3pm), will be the first opportunity for Boro fans to see Rob Edwards’ side in action.
Boro head for Portugal on Sunday for a week-long training camp, with a behind closed doors friendly taking place at the end of next week before the squad returns to the UK.
And the Mansfield friendly will then kick-start the run of domestic pre-season fixtures in the build-up to the Championship opener against Swansea City.
The League One Stags are managed by Nigel Clough and finished 17th in the third tier last season. Boro’s last competitive visit to Field Mill came in 2022, when Chris Wilder’s side won 3-2 in the FA Cup third round.
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The Swansea Championship opener will be broadcast live on Sky Sports+, with three other consecutive Boro fixtures having now been moved after TV selection was confirmed.
Boro’s home game against Sheffield United on Saturday, August 30 and trip to Deepdale to face Preston on Saturday, September 13 will now both kick-off at 12.30pm.
And Boro will also be live on Sky when they face West Brom, with the Baggies’ visit to the Riverside moved forward to Friday, September 19. It will now kick-off at 8pm.
The remaining TV selections up until January will be confirmed by Sky at the end of July.
