At around 10pm on Saturday (21 March) police responded to reports of shots being fired at a vehicle on Scott Road in Grimesthorpe.
Then, around 10 minutes later, they received a second report of shots fired at another vehicle on nearby Abbeyfield Road.
Police said no one was injured and an investigation is now underway.
Residents in the area have received a letter asking if they witnessed either incident and, if so, what they saw. Police are also appealing for CCTV footage.
A statement from South Yorkshire Police said: “Specialist officers attended the scene and a cordon was put in place while they carried out their enquiries.
“If you have any information which might help our officers, please call 101 quoting incident number 821 of 21 March 2020.”