The hosts broke the deadlock midway through the second half when Paddy Madden poked home, before Tom Soares equaliser.
Russ Wilcox’s men regained the lead when Paul Hayes pounced on the rebound of his own penalty, before Danny Rose curled a leveller in the last minute.
Fleetwood’s hopes of automatic promotion were dealt a blow as they were held to a 2-2 draw by Morecambe in the Lancashire derby, while Chesterfield sealed their place in the play-offs with 2-1 win at Hartlepool.
Chris Wilder’s side remain in the relegation zone, but are now level on points with nearest rivals Wycombe, who lost 2-0 to Newport.
Bottom-of-the-table Torquay picked up an equally crucial 2-1 win at Bristol Rovers, although a seven-point gap between them and safety means their survival chances remain slim.
