Ashley Carew missed a penalty as Cambridge were forced to settle for a point at Kidderminster.
Carew saw his spot-kick saved by Tony Breeden following defender Lee Vaughan's handball in the area.
Steve Guinan saw his delightful chip hit against the bar for the home side before Cambridge's Josh Coulson blazed over from a great position.
Kidderminster almost snatched the win late on but Callum Gittings saw his header hit the post.
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Cambridge United boss Jez George told BBC Radio Cambridgeshire:
"That's probably the most unlikely scoreline you could have imagined given the flow of the game.
"I thought a lot of our play in the first half was excellent, but we lacked a bit of a cutting edge in the final third.
"They got at us in the second half, which allowed us to get at them on the break."