Rogers, ranked 116th, outlasted ninth-ranked Williams 1-6, 6-4, 7-6 (7/5) after two hours and seven minutes, finishing the 23-time Grand Slam champion with a service winner.
Serena won the last four games to beat her older sister, Venus, 3-6, 6-3, 6-4 in a second-round match - 22½ years after the first between the two.
Djokovic said that making this decision was not easy, but in the end, he has announced to compete in a major Grand Slam.
It’s been nearly two full years since the sisters’ last meeting, a third-rounder at the 2018 US Open that Serena won 6-1, 6-2.
The cut, right now, is at 129. Gunneswaran, who is World No 132, will make it into the main draw if there are three more withdrawals.
The WTA's first event in the US since March features a spectator-free field that includes sister Venus Williams, Victoria Azarenka, Sloane Stephens and rising star Coco Gauff.
Federer turned professional in 1998 and holds the record for most consecutive weeks spent at the top of the rankings (237) and the most weeks as world no.1 in total (310).
Kyrgios has been vocal in his criticism of some other players during the pandemic, waging a social media battle with top names who played at Novak Djokovic's ill-fated Adria Tour exhibition.
It was the second consecutive three-set win for Errani, who received a wild-card entry for the first tour-level tournament -- for men or women.
The World No 127, who made it through the main draw entry list, said the tournament could yet get cancelled.
Federer last played at the 2020 Australian Open in January following which a knee surgery forced him to call off the rest of his 2020 season.
It will be Nagal's second appearance at the US Open, starting August 31, and he is the only Indian in the men's field with Prajnesh Gunneswaran, ranked 132, missing out.
Four months after the high point of his career "the final of the 2005 French Open" the Argentine tested positive for etilefrine, a banned cardiorespiratory stimulant.
The strict rules because of the coronavirus included no showers on site, and no autographs or photos with fans.
Top tennis stars, both men and women, have pulled out of the Slam due to the ongoing COVID-19 crisis in New York but Murray stated he is willing to take the risk to participate at the tournament.