Police were called to the scene in Rother Way, Hellaby, shortly before 9.40am on Wednesday, and arrived to find a 60-year-old man in a critical condition.
Despite the efforts of the emergency services, he was pronounced dead at the scene.
South Yorkshire Police confirmed his family is being supported by specially trained officers.
A 48-year-old man from Sheffield has been arrested on suspicion of murder and is in police custody.
DCI Simon Palmer, leading the investigation, said: “We are working hard to establish the circumstances of this tragic incident, which we know will be causing concern in the community.
“Our officers remain on the scene while we carry out our enquiries.”
Anyone with information which may assist our officers is asked to call 101, quoting incident number 260 of 2 November 2022.