Substitute Elliot Benyon struck either side of half-time to book 10-man Torquay a place in the FA Cup third round at Oxford's expense.
He opened the scoring five minutes before the break, converting Tim Sills' flick-on at the near post.
Roscoe Dsane saw red for an apparent slap on U's keeper Billy Turley, but Benyon sealed it with a superb volley.
Oxford had dominated proceedings, but they were wasteful and Scott Bevan saved twice from James Constable.
Torquay: Bevan, Mansell, Woods, Hodges, Nicholson, Carayol, Wroe, Hargreaves, DSane, Sills, Thompson (Benyon 36), Benyon (Green 90). Subs Not Used: Brough, Robertson, Stevens, Adams, Ellis.
Sent Off: DSane (45).
Booked: Hargreaves.
Goals: Benyon 41, 83.
Oxford Utd: Turley, Clarke (Groves 73), Day, Foster, Carruthers, Deering, Murray, Hutchinson, Haldane (Taylor 61), Constable, Odubade. Subs Not Used: Hinchliffe, Burnell, Willmott, Fisher, Sampson.
Booked: Turley, Clarke, Day.
Att: 2,647.
Ref: Roger East (Wiltshire).
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