Two goals from Rushden's Lee Tomlin sentenced Tamworth to their fourth straight defeat.
He gave the home team an early lead with a shot from the centre of the area but the Lambs hit back when Nick Wright executed a close-range finish.
Rushden regained the lead when Tomlin curled a right-foot effort into the bottom corner.
An Aaron O'Connor tap-in secured the win before Tamworth grabbed a late second via Richard Tait's low shot.
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Rushden & D'monds: Abbey, Corcoran, Osano, Stuart, Robinson, Cousins (Byrne 59), Terry (Pattison 80), Porter, Tomlin, Akurang (O'Connor 52), Farrell. Subs Not Used: Roberts, Smith.
Booked: Stuart, Osano.
Goals: Tomlin 4, 18, O'Connor 78.
Tamworth: Alcock, Lyttle, Gaughran, Briscoe, Blackwood, Russell (Andrew 70), Tait, Shaw (Wylde 75), Sheridan, Pritchard, Wright. Subs Not Used: Mills, Bruce, Looker.
Booked: Sheridan, Gaughran, Briscoe, Andrew.
Goals: Wright 8, Tait 90.
Att: 1,313.
Ref: David Coote (Newark).
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