The Conference side book their place in the fourth round by shocking Peterborough United, while Joe Garner's hat-trick saw Preston North End dump out Ipswich TownKidderminster Harriers will play Sunderland in the FA Cup fourth round after a shock 3-2 win at Peterborough United.
The Conference side fell behind to a Tommy Rowe strike in the 26th minute of their third-round replay on Tuesday before goals from Michael Gash and Jack Byrne turned the game on its head.
Britt Assombalonga pulled the hosts level from the spot in the 74th minute after Lee Vaughan had felled the striker in the box but Joe Lolley sealed a famous victory for Andy Thorn's men two minutes later.
Elsewhere, Joe Garner scored a hat-trick as League One side Preston North End overcame the Championship's Ipswich Town 3-2 to set up a fourth-round match against his former club, Nottingham Forest.
Frank Nouble gave the visitors the lead at Deepdale but a Garner double put Preston 2-1 up within 10 minutes. David McGoldrick appeared to have sent the clash to extra time with a 76th-minute equaliser, until the Preston star netted a dramatic winner two minutes from time.
Holders Wigan, meanwhile, survived a potential slip-up as they scraped a 3-1 extra-time win against MK Dons. Luke Chadwick and Nick Powell scored either side of half-time to send the game to an additional 30 minutes, before Powell and Marc-Antoine Fortune booked a clash with Crystal Palace in the next round.
In Tuesday's remaining third-round replays, Watford recorded a 2-0 victory at home against Bristol City and will face the winner of Wednesday's clash between Manchester City and Blackburn Rovers, Port Vale will host Brighton and Hove Albion after triumphing 3-2 at Plymouth Argyle and Sheffield Wednesday face a trip to Rochdale after their 4-1 victory over non-league Macclesfield Town.
In addition to the replays, there were a further three third-round matches on Tuesday and League Two Oxford United let a two-goal lead slip as they were held to a 2-2 draw by second-tier Charlton.
Birmingham City will be relishing the opportunity to dump Swansea City out of a second cup competition this season after a 3-0 triumph over Bristol Rovers set up a fourth-round tie against Michael Laudrup's men, whom they knocked out of the Capital One Cup in September.
And Bournemouth face a mouth-watering match against Premier League giants and seven-time FA Cup winners Liverpool in the fourth round after storming to a 4-1 win against Burton Albion.