Rohan Ince's goal 12 minutes from time looked to have given Gary Johnson's side the win, but Norburn came off the substitutes' bench to deny the hosts. His deft finish was the first goal Yeovil have conceded in almost six hours of pre-season football.
Yeovil opened the scoring thanks to Ince, who picked the ball up 25 yards from goal and unleashed an unstoppable strike past Rovers goalkeeper Conor Gough.
The lead was short-lived though. Good approach play from Joe Anyinsah played in Norburn, who lifted the ball over the onrushing Marek Stech.