The Robins snatched a battling point right at the death through a goal by substitute Andy Gallinagh.
Gallinagh struck in the fourth minute of stoppage time after his side had been reduced to 10 men following the dismissal of Josh Payne for a straight red card, the on-loan West Ham man sent off for protesting over the rejection of a penalty appeal.
Glenn Murray headed the Seagulls into the lead in the opening minute and, after Scott Murray levelled a minute later for Cheltenham, the Brighton frontman netted his second when he tapped in an Adam Virgo pass five minutes later.
Scott Murray pulled Cheltenham level with a tremendous volley after Brighton had failed to clear a corner, but Glenn Murray made it 3-2 shortly after the restart by heading in a cross from the impressive Kevin Thornton at the far post.
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