Lee Hendrie's late winner saw Tamworth twice come from behind to beat Dartford for their first league win in six.
Semi Ajayi's header put the Darts ahead but they saw Tom Bonner sent off for handball on the line, with Scott Barrow levelling from the resultant penalty.
The visitors went back in front through Danny Harris's low drive, but Tom Champion's foul on Marcus Kelly allowed Barrow to score his second spot-kick.
And Hendrie coolly finished from close range to ensure the Lambs' victory.
The dramatic effort was the 35-year-old former England international's first goal for Tamworth since moving to the Lamb this summer.
VIEW FROM THE DRESSING ROOM
Dartford manager Tony Burman told BBC Radio Kent:
"Decisions sometimes go for you, sometimes they don't. I thought it was a bit harsh, the second penalty.
"They've got a third goal which is disappointing because we took the lead twice in the game. It was a brave performance, we didn't play poorly, the work rate was excellent.
"We took the lead and we've not kept it and that's disappointing. I felt we deserved something."