- The Imperial ground transport Jyn is prisoner in at the beginning resembles the HAVw A6 Juggernaut, which was first seen in Revenge of the Sith (used by the Clone army on Kashyyyk). Since the Imperial army evolved from the Republic's Clone army, it makes sense.
- In the Battle of Scarif, you can see Hammerhead-class corvettes in space above the planet, having been recanonized in Rebels, originating from Legends video game, Knights of the Old Republic.
- Another connection with Rebels in that same battle is the presence of a certain VCX-100 light freighter—the Ghost. This establishes that the ship survives the events of the series. How much of the original crew also make it is, for now, still a mystery.
- In addition, an intercom call in the background during one of the Yavin IV scenes has somebody calling for General Syndulla — confirmed to be Hera from Rebels. Chopper can also be seen in a Freeze-Frame Bonus as the rebel operator informs Senator Mothma about Rogue One being on Scarif.
- The Star Destroyers in the film are the same white-hulled Imperial-I Class ships from A New Hope, predecessors to the grey-hulled Imperial-II Class Destroyers from The Empire Strikes Back and Return of the Jedi.
- All There in the Manual reveals Cassian was a Fulcrum informant, the third known Fulcrum at the time of the film's release.
- Tynnra Pamlo (the senator who advises disbanding the Rebellion in the face of the Death Star) is a senator from Taris, a key world in Knights of the Old Republic and The Old Republic. While none of these games are canon anymore, in the movies and The Clone Wars, Taris is stated to be still recovering from a destructive event some time ago, because in these Legends games, it gets bombed.
- One of the Rebel pilots killed during the Battle of Scarif has the callsign "Red Five", thus explaining how Luke Skywalker was able to take that callsign when he joined Red Squadron for the Battle of Yavin.
- In season 1 of Rebels, Mustafar is said to be the planet "where Jedi go to die". Here, we see that Darth Vader lives there.
- Inside Galen's farmhouse in the opening scenes, the camera lingers on a glass of blue milk like the one Owen and Beru Lars drink in A New Hope.
- The Death Star plans are rendered in the same low-tech wireframe style as they were in A New Hope. They even replicate the incorrect placement of the superlaser dish on the equator as opposed to the northern hemisphere of the real Death Star.
- Stormtroopers are still making small talk while on guard duty.
- Darth Vader's mask has red-tinted eye lenses because this trait was noticeable in A New Hope in some scenes, and so the inclusion of it here helps to make the later-changed design element less conspicuously wrong.
Continuity Nod / Rogue One