Darlington ensured another season of Division Three football after a battling performance destroyed Lincoln's hopes of automatic promotion.
The Quakers took a deserved first half lead and although Lincoln levelled things up Darlo always looked more likely snatch a winner.
Afterwards Darlington boss David Hodgson said: "The result was the be all and end all. We hung on and now the club is safe. I thought we were magnificent.
"I thought the decision for Lincoln's goal was diabolical. If it wasn't a foul on our keeper I don't know what is a foul." Lincoln manager Keith Alexander, serving the first game of a three-match touchline ban, was forced to sit out the game in the stands.
He said: "I thought we were poor from start to finish. It was very disappointing but it was one of those days.
"We just went through the motions in the first half although we were a lot better after the break." Darlington started in lively form with top scorer Barry Conlon shooting narrowly wide from 20 yards.
Loan striker Danny Graham then burst into the area only to see his low shot blocked by City keeper Alan Marriott.
It was no surprise when Darlington snatched the lead eight minutes before the break.
They won a free kick on the edge of the box after Ian Clark was fouled by Richard Butcher.
Ryan Valentine slipped the pass to Neil Wainwright who slotted home from close range after being left unmarked.
Straight after the break Kevin Sandwith, making his first start for Lincoln, put Francis Green in the clear but the striker took too long over his shot and the chance slipped away.
But Sandwith set up City's equaliser in the 53rd minute when his cross from the left was knocked down by Marcus Richardson.
Darlington keeper Michael Price could only push the ball out into the path of Green who knocked it back over the line.
Darlington were then content to soak up pressure and hit Lincoln on the break.
Graham was denied an opening in the 73rd minute by a great interception from Sandwith.
But the striker did better in the 81st minute when he fired a terrific shot towards the top corner only to be denied by a great save from Lincoln keeper Marriott.
In stoppage time Wainwright again set up Graham but this time the youngster's shot was blocked by defender Simon Weaver.