Matthew Barnes-Homer scored twice and Iyseden Christie converted a late spot-kick to give Kidderminster their third win in a row.
Christie headed on to Barnes-Homer in the penalty area and he made no mistake from six yards to open the scoring.
At the other end, Dean Coleman kept a pressing Cambridge at bay saving shots from Courtney Pitt and Stephen Reed.
But Barnes-Homer struck again and Christie slotted a penalty after Wayne Hatswell fouled Brian Smikle.
Cambridge Utd: McCarthy, Morrison (Willmott 55), Peters, Coulson, Hatswell, Reed, Carden, Wolleaston, Pitt, Jeffrey (Beesley 74), Vieira (Boylan 61). Subs Not Used: Brown, Cutler.
Booked: Hatswell, Carden, Reed.
Kidderminster: Coleman, Bignot, Hurren, Creighton, Jeannin, Russell (Ferrell 54), Penn, Bennett, Knights (Smikle 55), Christie, Barnes-Homer (McGrath 69). Subs Not Used: Moult, Wild.
Booked: Jeannin, Christie.
Goals: Barnes-Homer 27, 66, Christie 85 pen.
Att: 3,999
Ref: A Halliday (West Yorkshire).
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