Mansfield's Robert Duffy kept his cool to score a last-minute penalty to settle a scrappy affair at Nene Park.
Substitute Chris Arthur, who was making his debut, was adjudged to have fouled Gary Silk in the Rushden box and Duffy made no mistake from the spot.
Both sides resorted to long-range efforts as defences were on top in a largely forgettable game.
Stags midfielder Nathan Arnold missed from 30 yards while Rushden's Andrew Burgess volleyed wide from distance.
Rushden & Diamonds: Roberts, Osano, Downer, Hope, Robinson, Burgess, Corcoran (Beecroft 56), Wolleaston, Kelly (Arthur 77), Cousins (Smith 50), Tomlin. Subs Not Used: Day, Rankine.
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Goals: Duffy 90 pen.
Att: 1,774
Ref: S Duncan (Newcastle).
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