The fans had to wait almost half an hour for the first goal which came from the visitors and Callum Wright's strong strike.
Burton had dominated most of the game before the goal but the tide shifted afterwards with Cheltenham creating more and looking dangerous.
Again Burton suffered for large parts of the game because they lacked a focal point upfront, Omari Patrick was lively but kept drifting far too wide and leaving his role as the man furthest forward.
Story of the game
In the eighth minute an early substitution was made as Michael Mancienne was forced to come off injured being replaced by Bryn Morris.
Tom Hamer then cleared a swinging cross off the line and out of danger stifling Cheltenham's first attack.
Jonny Smith came close after a ball split the Town defence open but Matty Blair applied enough pressure for his shot to be directed wide.
Despite Burton piling on early pressure, Cheltenham took the lead just before the half hour mark through Wright. The midfielder's low effort from range got the better of Ben Garratt, who couldn't reach it.
The goal shifted the tide of the game with Burton struggling to create anything clear cut before the break.
Ten minutes into the second half and not much had changed and the backline of Cheltenham looked solid enough.
Akins had the first real Burton chance of the second half as he cut in from wide before striking it at the side netting.
Two minutes later Cheltenham thought they had a second but Liam Sercombe was called offside as he passed the ball to George Lloyd.
There was a second of the game but it came to the hosts through Lucas Akins. The winger met Smith's cross at the far post and headed it down into the net.
With ten minutes to go both sides looked tense at the back but the home side carried the momentum from their goal going forward. Hamer thought he found a winner two minutes from time but was denied by Scott Flinders.
Man of the match
Akins has to take this, his contribution to the side in this game was exceptional. Burton have struggled so far this season for a recognised striker and it was the same in this game.
Patrick again failed to contribute to a goal and it's clear to see he isn't suited to the number nine role.
Akins was as professional as ever in this game and took on a lot more then he should have. He played all across the attacking three, as the players rotated and looked comfortable wherever he played.
He was the focal point the side needed when playing through the centre, he provided an outlet for the defence and was key in the transition from defence to attack.
As for his goal, it was right place right time. Smith worked well to get out of a difficult scenario in the corner and his in swinging cross breezed past everyone else in the box. Akins met it at the far post and brushed past his marker with ease.