Nat Brown's late winner extends the Imps' unbeaten run away from home to five games and keeps Keith Alexander's side on course for a play-off place.
Barnet took the lead slightly against the run of play with their first attack after 20 minutes.
Adam Gross hit a superb cross-field pass to Giuliano Grazioli that carved open the Lincoln backline and the striker pulled the ball down on to his chest before firing a left-foot volley that Alan Marriott did well to parry.
Unfortunately the ball fell straight into the path of Ben Strevens who couldn't miss from two yards out.
The Bees were indebted to keeper Ross Flitney just before the interval. Flitney pulled off an impressive triple save to deny Martin Gritton twice and Francis Green to ensure that Barnet went in at the break a goal to the good.
It seemed as though Barnet were on course for a comfortable night when Tresor Kandol grabbed his second goal in two games eight minutes into the second half.
The former Dagenham man ran on to a long punt upfield before steadying himself and chipping a delicate lob over the head of the advancing Marriott and into the empty net.
Lincoln refused to give up and managed to reduce the arrears two minutes later.
Flitney fumbled a cross under pressure from Gritton and Jamie McCombe stabbed the ball home from close range to bring Lincoln back into the game.
On 65 minutes Flitney's second half went from bad to worse. His wayward clearance fell at the feet of substitute Gary Birch and the powerful striker held off Anthony Charles before calmly floating the ball just inside the unlucky keeper's far post.
Brown then took his opportunity to become the Imps' hero when he struck a sweet shot from all of 25 yards that nestled in the bottom corner with just three minutes remaining.