Substitute Paul Hall scored the winner as Walsall beat the side they pipped to the League Two title last season. Troy Deeney should have put Walsall in front but missed from close range.
Clayton Ince saved brilliantly from Richard Barker and Gary Liddle, while Joel Porter blasted over the bar as the home team took over.
But with a minute left, Hall latched on to Tommy Mooney's flick after a long clearance and slotted his shot into the bottom corner.
Hartlepool: Budtz, McCunnie, Nelson, Antwi , Humphreys, Brown, Liddle, Boland (Sweeney 63), Monkhouse (Clark 85), Barker, Porter (Mackay 79).
Subs Not Used: Elliott, Lee-Barrett.
Booked: Boland.
Walsall: Ince, Wrack, Dann, Gerrard, Fox, Sonko, Deeney (Hall 67), Dobson, Mattis (Bradley 78), Demontagnac (McDermott 72), Mooney.
Subs Not Used: Weston, Bossu.
Booked: Wrack.
Goals: Hall 90.
Att: 4,948.
Ref: Graham Salisbury (Lancashire).
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