The trailer, shown to thousands of fans at the Star Wars Celebration event in London, ends with a shot of Vader and his trademark heavy breathing.
Director Gareth Edwards revealed James Earl Jones, who voiced Vader in the original trilogy, will be back in the new film.
The veteran actor recorded his dialogue in New York last December.
Edwards said recording the dialogue had been "like an early Christmas present".
He described how he and his sound recordist had a "nerd-gasm" when they heard Jones say the word "power" in his deep, distinctive voice.
"We said, 'that's great - let's do that one more time.'"
The poster for the film shows a beach battle taking place on the planet Scarif - with the Death Star looming in the sky.

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