Kieron St Aimie grabbed a last-gasp goal to break Hinckley hearts and secure Tamworth a 1-0 win and an FA Cup second round tie at Gateshead.
The Blue Square Bet Premier Lambs dominated the opening half but visiting goalkeeper Denham Hinds denied Daniel Bradley and St Aimie, while Richard Tait struck a post.
Hinckley, one division below their hosts, edged back into the contest in the second half and Andre Gray wasted a great chance to put them in front before St Aimee pounced in the 90th minute.
The visitors started brightest and Tamworth goalkeeper Jonathan Hedge was at full stretch in the sixth minute to keep out Rob Oddy's 25-yard drive.
The home side grew stronger as the half progressed and St Aimie fired narrowly wide on 12 minutes and then headed Tait's cross straight at Denham Hinds, who then denied Bradley from close range before seeing Tait's shot hit the post.
Hinckley's best chance came when Gray latched on to substitute Jacob Joyce's cross on 75 minutes but could only fire at Hedge.
They were made to rue the missed opportunity when St Aimie poked the ball home after Iyseden Christie's header was saved.