Kotwica leaves it late
Until then it had seemed like Vadaine Oliver’s spectacular 30-yard half-volley 10 minutes into the second half, would be enough to earn Stags all three points.
Although Mansfield dominated for long spells of a goalless first half it was Cheltenham who came closer to scoring.
Terry Gornell was narrowly wide before Kane Ferdinand was twice denied, first Dimitar Evtimov blocking a powerful shot, then Luke Waterfall clearing his follow-up off the line.
Evtimov turned another fierce Ferdinand drive round his near post in first-half stoppage time
Mansfield’s only on-target effort was a low shot from Chris Clements straight at Trevor Carson.
But the Stags were rewarded for a powerful start to the second half with the opening goal in the 55th minute.
Oliver caught Benson off his line from almost 30 yards with a powerful dipping right-footed half-volley that cleared the keeper and dropped under his angle.
Evtimov was then down well to keep out a Richards free-kick soon after.
But he was beaten two minutes from time by sub Kotwica as Cheltenham ended the match on a high, even though they remain without a win in six League Two outings.