Tamworth continued their unbeaten start to the season, with their third draw in four Blue Square Premier games.
The home side went closest to breaking the deadlock with Nick Wright twice hitting the crossbar in the first half.
Cambridge struggled to threaten until late on when Robbie Willmott's shot from the edge of the area forced keeper Danny Alcock into a stretching save.
The Lambs have now won one and drawn three since winning promotion from Blue Square North.
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Cambridge United manager Martin Ling told BBC Radio Cambridgeshire:
"Defensively, we are very pleased. I think our passing could be better, but we could have sneaked it.
"I always say to the team that we score together and we defend together. So they will all take credit in terms of the defensive work."
Tamworth: Alcock, Tait, Smith, Briscoe, Blackwood, MacKenzie, Pritchard, Shaw, Rodman, Wright, Sheridan. Subs Not Used: Hurren, Nicholson, Lyttle, Lake-Gaskin, Benjamin.
Booked: Tait.
Cambridge Utd: Potter, Gleeson, Saah, Hatswell, Tonkin, Willmott, Reason, Carden, Parkinson (Ives 63), Holroyd (Beesley 71), Crow. Subs Not Used: Walker, Coulson, Pitt.
Booked: Carden, Crow.
Att: 1,316.
Ref: D Bond.
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