Bartosz Tarachulski's injury-time equaliser earned Yeovil an FA Cup replay with Darlington, who had Brian Close sent off for handball.
The hosts went ahead through Alun Armstrong's header but Colin Miles nodded in an equaliser after the break.
Tarachulski fired Yeovil ahead from Lee Johnson's pass but Armstrong again hauled Darlo level with a calm finish.
Darlo sensed victory when Clark Keltie headed in five minutes from time, but Tarachulski struck again to deny them.
Darlington: Sam Russell, Clarke, Close, Liddle, Valentine, Clark (Convery 78), Webster (Keltie 71), Maddison, Kendrick (Wainwright 57), Wijnhard, Armstrong.
Subs Not Used: Craig Russell, Price.
Sent Off: Close (90).
Booked: Keltie, Wijnhard.
Goals: Armstrong 19, 73, Keltie 86.
Yeovil: Weale, Terry, Miles, Guyett, Rose, Gavin Williams, Gall, Johnson, Way, Tarachulski, Stolcers (Lindegaard 74).
Subs Not Used: Caceres, Collis, O'Brien, Odubade.
Goals: Miles 46, Tarachulski 55, 90.
Ref: P Joslin (Nottinghamshire).