Nine-man Carlisle dropped into the League One drop zone on the penultimate day as Cheltenham's relegation was confirmed with Saturday's draw.
United took the lead, through Ian Harte's brilliant 20-yard free-kick but they went down to 10 men after Evan Horwood picked up two bookings.
Michael Bridges followed for handball late on, with Drissa Diallo convering the penalty.
And David Hutton almost won it for the Robins, but he struck the post.
Cheltenham: Brown, Diallo, Duff, Townsend, Ridley, Hutton, Finnigan (Watkins 64), Gallinagh, Artus, Connor, Antonio. Subs Not Used: Lindegaard, Puddy, Lee, Berchiche.
Booked: Townsend, Watkins, Artus, Ridley.
Goals: Diallo 82 pen.
Carlisle: Williams, Raven, Keogh, Harte, Horwood, Cleveland Taylor (Murphy 72), Lumsdon (Morris 84), Thirlwell, Neal, Dobie (Graham 90), Bridges. Subs Not Used: Anyinsah, Jeff Smith.
Sent Off: Horwood (67), Bridges (81).
Booked: Horwood.
Goals: Harte 19.
Cheltenham are relegated
Att: 4,290.
Ref: Simon Hooper (Swindon).
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