Skipper Michael Nelson simply converted a cross by Joel Porter to give Hartlepool a 19th-minute lead.
The Seagulls improved after the break and captain Nicky Forster levelled from close range before Andrew, on loan from Crystal Palace rose to head in a cross by substitute Kevin McLeod.
Pools striker Daniel Nardiello, on loan from Blackpool, was a constant thorn in Brighton's side in the first half and Seagulls goalkeeper John Sullivan did well to turn his goal-bound left-foot shot behind.
On loan midfielder Jason Jarrett threatened most for Brighton in the first half and he put a free header wide in stoppage time following a corner from Dean Cox.
Brighton levelled when Forster scored from point-blank range after substitute Seb Carole squared Cox's deep cross. Andrew wastefully headed over a cross from Cox before Frenchman Carole was denied in a one-on-one situation with Pools keeper Aaron Lee-Barrett before Andrew did find the target.