Town were denied a fifth win in six Championship games by Jay Simpson's late equaliser after Jason Scotland had put Blues in front.
The Trinidad international fired in his ninth goal of the season just before the hour after spinning away from his marker on the edge of the box and it looked enough to give Paul Jewell's side all three points until substitute Simpson got on the end of Corry Evans' cross to score with a brilliant header six minutes from time.
Town were forced to make one change from the side that beat Doncaster so impressively in midweek, Jimmy Bullard unable to play against his parent club - Andy Drury coming in for his home debut and first start for Blues after joining from Luton last month.
The midfielder looked at home at Championship level from the first whistle, showing great technique to volley goalwards inside the first minute.
Former Town loanee Liam Rosenior stopped the rampaging Connor Wickham with a well timed tackle inside the box as Town enjoyed the majority of possession in the early exchanges.
Drury went down under a challenge at the back post but referee Craig Pawson wasn't interested in the Town penalty appeals.
Carlos Edwards did well to rob Matty Fryatt as the Hull striker broke on goal but it was Town who continued to look the more likely to break the deadlock, Lee
Martin firing over, then exchanging passes with Edwards before finding Wickham at the far post, the striker unable to control his volley.
Grant Leadbitter then had a 10 minute spell of peppering the Hull goal, one right foot volley going just over, a 30 yarder forcing Bradley Guzan into a save at full stretch before hitting the foot of the net, also from distance.
The former Sunderland midfielder became the first player to be yellow carded when he brought down Cameron Stewart after Damien Delaney had lost possession, Hull failing to take advantage of the free-kick.
Andy Dawson did well to deny Wickham a strike after Mark Kennedy had set him up following an excellent pass from Drury as the half came to an end in deadlock.
Hull had a scare in the opening minute as the second-half got underway, Drury flashing a free-kick across goal, Anthony Gerrard eventually clearing the danger.
Scotland was thwarted at the nearpost but on 58 minutes it was the Trinidad international who got the breakthrough, finding the far corner from the edge of the box to make it two goals in three games.
Hull responded with an Aaron Mclean shot saved low down by Marton Fulop before making a first change, Mclean making way for Nick Barmby just past the hour.
Drury fired wide from 20 yards as Blues looked for a second, Hull then making another change with Jay Simpson on for Tijani Belaid while Blues changed it up front with Tamas Priskin on for Scotland.
Town made a second change on 81 minutes with Luca Civelli replacing Martin but three minutes later the Tigers were level, Simpson heading in from Corry Evans' cross.
Leadbitter sent an 18 yard strike just wide after Priskin set him up before Hull were forced into a third change in added on time, Cameron Stewart stretchered off to be replaced by Jamie Devitt.
Fulop did enough to claw away a corner from danger as the Tigers threatened a last gasp winner before referee Pawson ended the contest as Town stretched the unbeaten run to six games.
Town: Fulop, Edwards, McAuley, Delaney, Kennedy, Martin (Civelli 81), Leadbitter, Healy, Drury, Wickham, Scotland (Priskin 79). Subs not used: Lee-Barrett, Peters, Hyam, Smith, O'Dea. Booked: Leadbitter
Hull: Guzan, Rosenior, Chester, Gerrard, Dawson, Stewart (Devitt 90), Evans, Koren, Belaid (Simpson 78), Fryatt, Mclean (Barmby 63). Subs not used: Duke, Hobbs, Harper, Cairney.