Jon Stevenson's last-minute winner sent Tamworth into the second round after a dramatic 2-1 win at Burton.
Stevenson capitalised on Ryan Austin's poor clearance and lashed a sensational 20-yard volley into the top corner to give the Lambs victory.
Albion almost got off to the perfect start in the sixth minute when Andy Ducros headed Keith Gilroy's cross against the bar.
Tamworth goalkeeper Jose Veiga was called into action when he was forced to react to Darren Stride's powerful header.
The Brewers continued to lay siege to Tamworth's goal, with Daryl Clare's 35-yard drive skimming the post.
Nigel Clough's side were finally ahead four minutes after the break as Clare slid in at the back post to convert Gilroy's cross shot.
But the Lambs were level in comical fashion nine minutes later when John McGrath's corner was fumbled over the line by veteran goalkeeper Kevin Poole.
Burton almost regained the lead, but Darren Tinson's header was superbly tipped over the bar by Veiga.
And the Portuguese goalkeeper was called into action again from the resulting Clare corner, this time turning over Gilroy's volley.