Dean Smith was proving a concern for Tamworth and the defender troubled goalkeeper Jose Veiga twice in the space of two minutes, as efforts from Jonny Dixon and Ryan Williams also tested the Portuguese stopper.
But despite barely threatening themselves, Tamworth went ahead three minutes before the interval when Daryl Taylor lashed home with a superb finish which caught Shots goalkeeper Nikki Bull unawares.
Taylor rifled home left-footed after picking up Jake Edward's ball from the edge of the penalty box to send the Bulls into a fortuitous half-time lead.
The goal gave Tamworth renewed confidence and they managed to keep the Shots at bay for much of the second half.
The final minute of the game conjured as much drama as the entire second half when Aldershot's Mark Molesley hit the post with a snatch-shot from the edge of the box.
But from the resultant break, Simon Heslop played in Jake Edwardson and the defender made no mistake in slamming a powerful effort into the top-right corner to seal victory for Tamworth.
Source: http://www.tamworthherald.co.uk