Ten-man Torquay equalised with the last kick of the game to stun Gillingham.
Both sides showed attacking intent, with Jack Payne going close for the Gills, and Torquay's Romone Rose and Joe Oastler having efforts blocked.
Chris Zebroski fired against the bar for the visitors before Cody McDonald's volley gave Gillingham the lead.
Torquay lost Lee Mansell, who was dismissed for diving, before Kevin Nicholson hammered home a free-kick to equalise deep into injury time.
Gillingham assistant manager Ian Hendon told BBC Radio Kent: "We scored a great goal worthy of winning any game but a mistake at the end has cost us two points.
"We had the game in the bag and a stupid mistake has cost us. We could have avoided it further up the pitch, we could have been a bit tighter but it's human nature, you drop off and defend your lead.
"We shouldn't concede a goal like that, it's not the referee's fault, we should have defended it better than we did."
Torquay United manager Paul Buckle told BBC Radio Devon: "We have to be happy in the end so late in the game to equalise - I suppose it was desperately disappointing for Gillingham, but I felt we deserved a point.
"We more than competed with a good side today, it's a tough place to come, the fans are very good here, we were tested physically and we stood up to it.
"I thought their goal was a great goal to put them in front, but we never gave in, we showed great character and in the end we deserved a point."
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