The winger was tripped by Jack Deaman in the 78th minute and he stepped up to send Trevor Carson the wrong way to earn Graham Westley’s side their first win in six.
Stevenage wasted a clear chance in the fourth minute with Charlie Lee tapping gently into the arms of Carson with time and space in the box.
Carson made a good save to keep out Dean Wells’ header in the ninth minute and Joe Hanks cleared another header from Simon Walton off the line.
Cheltenham had a goal disallowed for offside in the 31st minute after Shaquille McDonald raced onto Mathieu Manset’s pass and beat Chris Day.
McDonald had another sight of goal four minutes before the break, but he shot tamely at Day.
Craig Braham-Barrett hit the post for Cheltenham in the opening minute of the second half and Will Packwood went close with a header before Bruno Andrade hit the post for Boro in stoppage time.