The home side had taken the lead early on, but Kris Fawcett levelled things on 70 minutes from the penalty spot.
In the meantime, keeper Jack Pearson had performed heroics by saving two penalty kicks, before some poor defending allowed the Imps to snatch a late winner and send Alan Lamb's side home with nothing to show for their efforts.
Pictures - Kris Fawcett scored from the spot, Jack Pearson - saved two spot kicks.
Watch the highlights of this game.