Cambridge fought back from three goals down to deny Des Lyttle his first league win as Tamworth caretaker boss.
Danny Thomas fired the visitors ahead from the edge of the area before Kyle Perry headed a second.
Thomas struck again from 12 yards to seemingly put the result beyond doubt, but United hit back impressively.
Robbie Wilmott's penalty, Jordan Patrick's neat finish from 12 yards and Adam Marriott's 20-yard lob rescued the unlikeliest of points for the U's.
Cambridge Utd: Naisbitt, Roberts, Coulson, Partridge, Jennings (Marriott 74), McAuley, Stavrinou (Patrick 63), Gray, Russell, Willmott, Wright. Subs Not Used: Brown, Platt, Ives.
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Booked: Jennings.
Goals: Willmott 68 pen, Patrick 75, Marriott 77.
Tamworth: Atkins, Tait, Wylde, Mitchell, Barrow, Oakes, Bradley, MacKenzie (Wilkinson 59), Smith, Thomas, Perry (Bojang 80). Subs Not Used: Marshall, Lake-Gaskin, Sheridan.
Booked: Mitchell.
Goals: Thomas 20, Perry 32, Thomas 58.
Att: 2,809
Ref: Lee Collins (Surrey).
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