David Wright's second-half header was enough to give Town a first League win of the season.
The full-back got on the end of Liam Rosenior's cross midway through the half to beat Stephen Bywater from six yards.
It was Town's sixth successive home win over the Rams, with Tamas Priskin having a great chance to wrap up the points five minutes from time but
Bywater kept his shot out from close range, with the final whistle greeted in ecstatic celebration by the Blues' fans.
Town boss Roy Keane made five changes to the side that drew at Plymouth. Tommy Smith was ruled out with a hand injury, with Damien Delaney joining Alex Bruce in the middle of the defence. Jon Stead was restored to the attack, with Alan Quinn and Liam Trotter coming into midfield.
Derby, restricted by a string of injuries, named only five substitutes, veteran Paul Dickov given the task of playing at the head of the Rams' attack, supported by Stephen Pearson and the two combined early for Dickov to finish off a move with a volley into the sidenetting.
Stead fired wide from Walters' pass, Quinn then going down under Bryan Hughes' challenge inside the box but referee Anthony Taylor waved away the penalty appeals.
Robbie Savage was booked for a foul on Walters as both sides struggled to carve out an opening, Stead sending a header at Bywater.
Walters headed over from Stead's cross, while at the other end Gary Teale dragged his shot wide after cutting inside the Town defence.
Delaney had a header saved by Bywater but the best chance of the opening half came three minutes before the break, Derby breaking from a Town corner and Savage ran the length of the pitch to get on the end of Teale's cross but miskicked from six yards.
Town then went close with Bruce seeing his header from Leadbitter's corner kept out by Bywater. The former Town loanee was immediately in action after the break, denying Bruce again with an excellent save. At the other end, Asmir Begovic saved well from Dickov, then denied Teale with another smart bit of work.
Town made a double change just short of the hour, Pablo Counago on for Trotter, Tamas Priskin for Stead.
Quinn tested Bywater from 25 yards, Carlos Edwards not so accurate from further out after Counago's neat pass before the breakthrough came on 66 minutes, Wright getting on the end of Liam Rosenior's cross to head into the net via Bywater's hand.
Priskin fired just wide after Counago and Walters linked up, while at the other end Begovic was in the right place to keep out Hughes' effort.
Jaime Peters replaced Edwards for the last 15 minutes, Bruce's diving header from Leadbitter's corner going over.
Dickov hooked the ball over Begovic's bar after Wright's clearance was blocked, the Town 'keeper tipping Teale's 25 yarder over the bar, Shaun Barker's header from the corner going just wide.
Lee Croft replaced Jake Livermore in Derby's first change, Dean Moxey yellow carded for a foul on Rosenior with Rams making a second swap, Pearson making way for Greg Mills for the final six minutes.
Peters fired over from Priskin's cross after Counago had released him down the right, the Hungarian international then bursting clear on goal but Bywater saved from six yards.
Walters was booked for kicking the ball away, Town fans having their hearts in their mouths in the last seconds as the ball fell to Hughes six yards out but he hooked it over to leave Blues with a very welcome first three points of the season.
Town: Begovic, Rosenior, Delaney, Bruce, D.Wright, Edwards (Peters 74), Leadbitter, Trotter (Counago 58), Quinn, Walters, Stead (Priskin 58). Subs not used: R.Wright, Healy, Colback, Brown. Booked: Walters.
Derby: Bywater, Stoor, Barker, Moxey, Connolly, Livermore (Croft 79), Savage, Hughes, Teale, Pearson, Dickov. Subs not used: Deeney, Buxton, Mills, Dudley. Booked: Savage, Moxey.
Att: 20,299




















