The hard-working winger collected the ball on the edge of the penalty area before drilling a low, left-footed shot into the bottom corner in the 67th minute and that made sure of a point for Phil Brown's out-of-form side.
The Shrimpers have now not won in six games and were forced to come from behind.
Rovers had earlier taken the lead in the 51st minute when striker Matt Harrold netted for the fourth game in succession against his former club.
Harrold was left unmarked six yards from goal and headed home a right-wing cross from Michael Smith.
Both sides pushed for a winner after Hurst's equaliser with Rovers defender Lee Brown having an 18-yard shot tipped wide by home goalkeeper Daniel Bentley before John-Joe O'Toole saw an injury-time effort blocked just in front of goal.