Scott Davies and Glenn Poole both scored from the penalty spot to keep Aldershot unbeaten at home and stretch Brentford's unbeaten run to 10 games.
Davies struck early on after Brentford goalkeeper Ben Hamer brought down former Bees midfielder Ricky Newman.
Poole equalised after the break after an infringement by Dean Howell.
Louie Soares missed a good early chance for Aldershot before Brentford defender Alan Bennett cleared a Junior Mendes shot off the line in the final minutes.
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