After the match, Selby will feel that three points were lost rather than a point gained, especially with their opponents being just two places outside of the Northern Counties Eastern League Division One relegation zone, and with the visitors having a two goal lead.
Despite this, Town remain in eighth position of the division.
Finlay Wade gave the Robins the lead going into the half-time break and Liam Love looked to have sealed the win with a second goal early in the second-half.
However, the home side hit back to reduce the arrears and former Selby player Nathan Perks got the equaliser in the last minute.
Town made changes from the Armthorpe game last weekend. Ryan Gothard, Jack Bull, and Alex Marsh came back into the starting 11.
Ryan Cooper's side started strongly in the game with a cross just evading Wade at the far post.
James Danby set Harry Clapham up for a shot that was inches wide and then Clapham did well with a quick turn and shot that home goalkeeper Levi Owen saved well.
The shot-stopper then went on to foil Clapham again when one on one and also saved a Dan Davison effort.
However, at the other end Sam Foulds shot into the side netting of Joe Wilton's goal and then Carter Tingle shot wide when well-placed.
Wilton made a great save from Foulds when a long ball bypassed the Town defence with the goalkeeper down well to snuff out the chance.
Selby took the lead on 30 minutes when Love on the left, played a ball over to Wade who controlled the pass well before striking it into the far corner of the net - making it 1-0 to the Robins.
Town opened the second-half well with Clapham passing across the area but Love could not convert the chance.
However, on 55 minutes the same move came to fruition with Clapham striking forwards and his pass across the goal area was hit home by Love.
Five minutes later Town were pegged back when poor defending on the edge of the penalty area saw Carter Tingle hit an unstoppable effort past Wilton from 18-yards.
It could have been worse for Selby minutes later when Perks, on as a substitute, found himself through on goal.
However his pass to Foulds saw the effort weakly stabbed into the arms of Wilton.
Despite Wade hitting an effort wide for Town it was the home team looking more likely to score.
A shot across goal was only inches wide and Jacob Morton volleyed a free-kick just wide.
The pressure for the equaliser finally took its toll on the Town defence in the last minute when a ball bounced off the leg of Bull to Perks who looped his header over Wilton into the net.
A point sees Selby remain in eighth position of the NCEL Division One, and ten points adrift of Worsbrough Bridge within the play-offs.
With six matches remaining, Selby are back in action on Saturday when welcoming Brigg Town (3pm).
