The home side had sneaked a 1-0 win at Chesterfield in September and again it was the Spireites who had more chances on the day, but the Stags defended manfully and came close to stealing it on two or three occasions.
Chesterfield had the best chance of a tight first half after only two minutes when Ryan Tafazolli's header back to goalkeeper Alan Marriott fell short and Marc Richards was in like a flash and rounded Marriott only to see Tafazolli had recovered well to clear off the line.
Richards sent another effort over the bar and Gary Roberts hit a free-kick straight at Marriott.
For Mansfield Lee Beevers shot just over from 20 yards and Tommy Lee made a comfortable save from Adam Murray.
The visitors made a powerful start to the second half and substitute Mason Bennett and Tendayi Darikwa smashed chances wide from inside the box.
In the 69th minute Roberts fed Bennett for a low shot that took a deflection only to see Marriott turn it away.
For the Stags Clucas headed a Lindon Meikle cross wide in the 74th minute.
Still the visitors looked the more dangerous and Marriott had to turn over a powerful 20-yard half-volley from Roberts.
At the other end Matt Rhead nodded down a Jennings corner and Sam Clucas twice saw close range finishes superbly beaten away by Tommy Lee.
Palmer missed a great chance to be the hero in stoppage time as he slotted the ball wide of the far post from six yards from Clucas' nod-down.