Two goals in the last 10 minutes from Marvin Johnson and Ryan Rowe earned Kidderminster Harriers only their second away league win of the season.
Telford goalkeeper Ryan Young had kept his side in contention for a point by pulling off a string of saves.
But Johnson finally beat Young with a low drive from the edge of the area before Rowe then scored a stoppage time tap-in to seal victory.
Telford hit the post twice through Phil Trainer and Jordan Rose.
Jamille Matt made his first Harriers appearance since February as a second-half substitute.
The Jamaican-born striker had been unable to play because of a problem with his citizenship, but the club announced on Thursday
VIEW FROM THE DRESSING ROOM
AFC Telford United manager Andy Sinton told BBC Radio Shropshire:
"I am disappointed with our performance, and I didn't like what I've just seen.
"We've hit the buffers of late and Kidderminster were excellent today.
"My players need to have a look in the mirror after that."