Ryley Towler's first competitive goal for the Imps earned a deserved point at Huddersfield Town after a performance of desire and heart from City.
The Terriers struck twice in the early stages to open up a 2-0 lead, but City showed a refusal to accept defeat and stretched their unbeaten run to 21 games.
The fightback started through forcing an own goal before the interval and, after a second half of real pressure, substitute Towler lashed home in time added home to seal a point.
Michael Skubala made four changes to his starting XI, with Alfie Lloyd making his first start for the Imps. Dom Jefferies, Ben House and Adam Reach also returned to the starting XI.
City started brightly and got the first shot away after three minutes when a cross from the left found Rob Street, who headed the ball into the path of Jack Moylan - his shot was held by Lee Nicholls in the home goal.
The Imps also won early corners, without testing Nicholls. Moylan got a shot away from outside the area, but again it was too close to the home keeper to test him.
The home side went ahead through a well-worked move after 15 minutes. David Kasuma was involved before Anthony Evans fed through Ryan Hardie - the Terriers man showed real composure to control the ball then calmly slot home. There was nothing George Wickens could do.
The home side doubled their lead after 19 minutes when a throw-in from Sean Roughan found its way to Ryan Ledson, who smashed home a right-footed effort which went in via an Imps defender.
That prompted a response from City. Moylan's deep cross from the left was too deep for Tendayi Darikwa, who connected with the ball but could not keep his header down.
And, moments later, a Tom Hamer throw-in was almost flicked into his own goal by a home defender.
A Hamer throw provided City a way back into the game after 20 minutes. Josh Feeney was battling with Sonny Bradley to get on the end of Hamer's throw, and only managed to head the ball past his own keeper.
The Imps pushed the home side back well, with a period of play ending with Reach trying a left-footed shot from outside the area which was not far away.
Space also opened up for the marauding Moylan to shoot after 33 minutes - his effort was just too high.
A late counter from Moylan was only stopped by Gooch through a foul, earning the Terriers player a yellow card. The resulting set-piece started with Moylan delivering the ball into the area and ended with him inside the six-yard box pulling the ball back only to see it hooked off the line.
Skubala made one change at the break, sending on Tom Bayliss in place of Lloyd.
An early corner, conceded by Murray Wallace to prevent Jefferies getting a cross in, was cleared. As was the resulting long-throw which followed.
Nicholls had to come rushing out after 51 minutes to get to the ball ahead of Moylan, after a Wickens ball found its way through to the Irishman.
City's intent early in the second half prompted two changes from the home head coach Liam Manning, with Alfie May and former Imp Lasse Sorensen sent on.
Moylan continued to look threatening, with a cross from the left after 57 minutes finding the head of Hamer - but the Imps defender, at full stretch, could not direct it on target.
Further reinforcements came for City on the hour mark, with Reeco Hackett and Ryan Oné sent on.
And only a great stop from Nicholls prevented them from celebrating before they had even touched the ball - with the home keeper stopping Bradley's header from a Bayliss corner right on the line.
Feeney blocked a Street shot as the Imps piled on the pressure in an open game, with Moylan seeing an effort blocked by Sorensen and Reach trying a snapshot from distance which was straight at Nicholls.
Ryley Towler, sent on in place of Reach, went close to levelling when he headed just over after 82 minutes, and moments later Moylan's tantalising cross from the right was just too far ahead of an of his team-mates
The Imps never gave up, and the decisive moment came three minutes into time added on when a Hamer throw found its way to Towler who fired home.
Terriers: Nicholls, Roughan, Wallace, Feeney, Mumba, Humphreys, Ledson, Gooch (Sorensen, 53), Evans (Harness, 61), Kasamu (McGuane, 79), Hardie (May, 53). Subs not used: Alnwick, Ashia, Whatmough.
Imps: Wickens, Darikwa (Elerewe, 86), Reach (Towler, 73), Moylan, McGrandles, Bradley, Jefferies (Hackett, 62), Street, House (Oné, 63), Lloyd (Bayliss, 45), Hamer. Subs not used: Jeacock, Varfolomeev.
Official: Ben Speedie
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