The Cobblers created enough chances to secure all three points before Akinfenwa grabbed a second equaliser deep into stoppage time after Glenn Murray looked to have won it for the visitors.
Brighton took the lead against the run of play after 43 minutes when Murray scored from the spot after Jason Crowe had felled Joe Anyinsah.
Akinfenwa levelled after 77 minutes from 12 yards after creating some space for himself.
Murray then put Brighton back in front in the first minute of stoppage time but with time running out Akinfenwa headed home from a Luke Guttridge corner to earn the Cobblers a point.
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