Alex John Baptiste was Mansfield's hero as his first goal for the club helped them come from two down to extend their unbeaten run to six league games. Lincoln went in front when a Gary Taylor-Fletcher corner was headed home by Gareth McCauley.
Late in the first half Taylor-Fletcher found Simon Yeo, who bent the ball past Kevin Pilkington to double their lead.
The visitors equalised when Adam Murray headed in Tom Curtis' cross and Alex Neil's corner was buried by Baptiste.
Mansfield: Pilkington, McNiven, Artell, Baptiste, Woodman, Neil (Day 90), Murray (MacKenzie 79), Curtis, Corden, Larkin, Asamoah (O'Neill 70).
Subs Not Used: Langford, Dimech.
Booked: Artell.
Goals: Murray 45, Baptiste 51.
Lincoln City: Marriott, McAuley, Morgan, Futcher, Bloomer, Butcher, Gain, Peat (Sandwith 90), Taylor-Fletcher (Green 60), Yeo, Carruthers (McCombe 86).
Subs Not Used: Rayner, Toner.
Booked: Yeo, Peat.
Goals: McAuley 15, Yeo 45.
Att: 5,349.
A Marriner (W Midlands).