Mark Cooper grabbed his ninth goal of the season to give Tamworth their first point in six games against ten-man Shrewsbury.
The Lambs player-assistant manager headed home the equaliser in the 76th minute to cancel out Colin Cramb's 13th minute penalty for the Shrews, who had Martin O'Connor sent off for a second bookable offence in the 26th minute.
After a drab opening, the game sprung to life in the 12 minute when Brian Quailey gave the ball away in midfield and Duane Darby broke away and played his strike partner Cramb in behind the Lambs' defence.
Goalkeeper Richard Brush did well to save Cramb's initial shot with his feet, but when the ball broke again to Cramb, his shot was blocked by Gary Setchell's arm as the Lambs captain tried to block his shot.
Despite fierce protests from Tamworth, the penalty was given and Cramb stepped up to fire the spot-kick low to Brush's right.
Tamworth's best chance of the half came in the 21st minute when Jason Blunt's corner fell to new signing Lee Ayres at the back post, but the tall defender could only fire wide from close range.
The game exploded into life five minutes later when O'Connor was sent off for a second bookable offence. After earlier receiving a warning for a foul on Marcus Ebdon and then a yellow card for a late challenge on Richard Follett, O'Connor was shown a second yellow for a reckless tackle on the same player.
An ugly melee ensued and O'Connor was eventually dismissed while Setchell and Cramb were both shown yellow cards for their parts in the scrum.
But Tamworth failed to trouble the Shrews defence and capitalise on their numerical advantage before half time.
The Lambs started the second half strongly and Jason Blunt fired over the bar after Jordan had headed on a Copper free-kick. Ayres then found Jordan at the far post and the tall striker's header was well saved at the near post by Scott Howie.
The Shrews could have stretched their lead as Darby capitalised on hesitant defending by Karl Johnson and Cooper, but his shot came back off the inside of the post and Setchell completed the clearance.
Then Follett had to head a Cramb header off the line from a Shrews corner.
The equaliser came in the 76th minute when Ayres rose above the Shrews defence and his header looked destined for the top corner until Howie pulled off a great one-handed save, but Cooper followed up to head home from close range.
The Lambs went in search of the victory and Jordan and Setchell both went close with headers from Blunt corners.