Rushden went close to scoring in the first minute when Phillip Gulliver saw his goal bound effort from a David Bells corner well saved by Alan Marriott.
On eight minutes Jamie Young made a good save to deny Lincoln's Matt Brown, while Rushden had an appeal for a hand ball against Scott Kerr turn down seven minutes later.
On 18 minutes Lincoln went ahead when Dean Keates curled a free kick from outside the box past the helpless Young to earn himself a debut goal on his first league start for the Imps.
At the other end Marriott was in the thick of things moments later to deny Chris O'Grady levelling for the home side.
Gary Birch went close to extending the visitors' lead in the space of two minutes when, after a good run his shot was well wide and he then had a goal ruled out after appearing to handle the ball in the build up.
Rushden showed more purpose in the second half and O'Grady should have equalised when Marcus Kelly found him unmarked following a fine run and cross but he missed the target, while David Bell was denied by Marriott moments later.
However Rushden scored a deserved equaliser in the 64th minute when Gulliver flicked the ball on to Greg Pearson and the striker slammed it into the roof of the net from ten yards out.
Pearson took confidence from the goal and he forced Marriott into a fine save in the 68th minute.
After being on the back foot for a long period of time Lincoln came back into the game to the end of the match but they were unable to break down a resolute Rusden defence.
Lincoln almost grabbed a winner in the 89th minute but Birch had his shot turned away by Young.