Gestede’s tremendous header early into the second half cancelled out Gary Gardner’s second goal in successive matches just before the interval.
Rovers striker Gestede, boasting 22 goals in his previous 36 games, threatened early on by heading over a curling free kick from Ben Marshall.
Brighton winger Elliott Bennett had a dangerous cross cleared by Alex Baptiste before Albion’s young keeper Christian Walton came to his side’s rescue at the other end.
The 18-year-old England Under-20 international spared team mate Gordon Greer’s blushes by leaping to tip over his captain’s header following a cross by midfielder Lee Williamson.
Marshall had a free kick from the edge of the area blocked after Rohan Ince’s clumsy challenge on Ryan Tunnicliffe.
Rovers skipper Grant Hanley did well to get in a crucial tackle to thwart Sam Baldock at the near post after Spaniard Inigo Calderon crossed accurately from the right.
Elliott Bennett released Baldock with a perfectly weighted through ball mid-way through the half but his low shot was easily held by keeper Jason Steele.
Albion centre half Lewis Dunk, who got away with a late challenge on Gestede, received a fifth booking of the season for bringing down Tunnicliffe which rules him out of his side’s trip to Norwich in a fortnight.
Rovers were punished for allowing a corner from Jake Forster-Caskey to bounce as Brighton broke the deadlock two minutes before the interval.
Midfielder Gardner, who struck the only goal in his side’s midweek victory over Wigan, was on target again to fire beyond keeper Steele from 13 yards.
Gardner was off target for the Seagulls just after the break before Steele dived to save a low shot from Forster-Caskey.
Rovers drew level when Gestede headed in a beauty from 15 yards in the 51st minute.
The Benin international rose to powerfully head in an angled cross by Markus Olsson, and the ball went in off the cross-bar and the post.
Gestede threatened again by putting a free header wide of Walton’s left-hand post after a knock down by Lee Williamson.
Brighton boss Sami Hyypia made the first change of the game by withdrawing Forster-Caskey in favour of Paddy McCourt with 24 minutes remaining.
Baptiste made a crucial block to deny Kazenga LuaLua after the Brighton winger got into a good position inside the area.
Steele made an important late save by diving to keep out a low goal-bound drive from Joe Bennett.