The home side dominated the first half but were unable to make the breakthrough. Brian Woodall forced a fine save from goalkeeper Jimmy Walker, Josh Scott saw an effort deflected wide, and Abu Ogogo’s looping header was tipped over by Walker.
On the stroke of half time, Walsall midfielder Alex Nicholls saw a fierce drive pushed over the crossbar by James Shea on a rare venture forward for the visitors.
Daggers continued to look the more threatening after the break and Damian Scannell twice went close. Walsall’s best moment came when Manny Smith’s header was cleared off the line by defender Richard Rose.
The visitors finally broke the deadlock after 76 minutes. Mat Sadler hooked a cross in from the left and substitute Claude Gnakpa powered his header past Shea. But Daggers levelled after 81 minutes when Nurse spun defender Lee Beevers and fired in from 25 yards.
In stoppage time substitute Ryan Jarvis was sent off for an elbow on Michael Spillane.