The family-run car dealer intends to build a 30,000 sq ft car showroom on a plot covering approximately six acres.
The brownfield regeneration and property investment specialist sold the plot after reserved matters planning consent was received.
Construction on the plot is set to begin this spring.
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Duncan Armstrong-Payne, associate director of major projects at Harworth Group PLC, said: “Bringing a prestigious name like Arnold Clark to the Riverdale Park development is excellent news for Harworth and proves that our confidence in buying the site in 2015 was well placed.
“Our deal with Arnold Clark will also provide the impetus for further deals at the site over the next 12 months.”
The wider development site was previously the location of the McCormick Tractor factory and was purchased by Harworth in late 2015 for £8.5m.
The scheme has outline planning consent for 600 new homes and 200,000 sq ft of commercial space designated for uses such as retail, a care home and a retirement village.
Peter Henry, development director at Harworth Group PLC, added: “Areas like Doncaster remain extremely important to the business in providing good value land for residential and commercial uses to support our future sales pipeline.
“Our specialist development team will continue to use its significant experience in developing large-scale brownfield sites to bring new homes and employment space to Yorkshire and the other regions in the North of England and the Midlands [that] we operate in.”