Employees in roles such as finance and human resources will drive specially-adapted 4x4 vehicles during the walkouts on 19 and 23 October.
The fire service said managers would return to frontline duties and provide emergency response cover.
The Fire Brigades Union (FBU) said the cover was threatening public safety.
The dispute is over plans to make both day and night shifts 12 hours long.
South Yorkshire fire service said support staff had voluntarily been trained to drive those firefighters not taking part in strike action to minor incidents such as grass and bin fires.
The fire service said cover would be provided by about 100 personnel, with about 80% of them being uniformed staff.
Fire engines will be kept available for emergencies which threaten life and property.
Chief fire officer Mark Smitherman said the staff would drive at normal road speeds and would not drive any vehicle which required a special driver's licence.
He said: "All the staff who will be working are fully trained for their roles.
"Fire service managers with years of frontline firefighting experience will provide emergency response cover.
"They all still regularly attend incidents and their training is up-to-date."
'Less productive'
Jerry Pagan, the FBU's brigade secretary for South Yorkshire, said: "We don't believe the cover for South Yorkshire is adequate, certainly not up to the standard of full-time professional firefighters."
He added: "It's not only a concern for the public, it's a concern for the staff who aren't trained firefighters who management are putting in this position."
The Fire Brigades Union (FBU) and the fire service met for last-ditch talks on Monday but could not reach an agreement on proposed changes to shift patterns.
Firefighters want to keep their current pattern of nine-hour day shifts and 15-hour night shifts.
The FBU has proposed 10-hour shifts, but the authority said it was committed to 12-hour shifts.
The fire service has said adding three hours to the day shift from the less productive night shift would result in improved services and more time to train firefighters.
But the FBU said the changes would have a "massive impact" on family life and childcare for its members.
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