Former Stour favourite Tom Tonks consigned Mark Yates' side to a 5-4 FA Cup First Qualifying Round penalty shoot-out defeat at The Lamb on Tuesday night.
Tonks capitalized on a miss by Glassboys' left-back Ben O'Hanlon with the shoot-out finely poised to ensure Tamworth reached the Second Qualifying Round of the competition.
The hosts were 1-0 ahead after just two minutes of the tie, as Ryan Beswick's slightly deflected free-kick beat an outstretched Charlie Price.
It was two minutes into the second half until Stour were back on level terms, as Greg Mills scored his third goal in all competitions so far this season from distance.
Mark Yates' men took a 2-1 lead on 57 minutes when former Lamb Darryl Knights drilled a fine effort high into the corner of the net from just outside the penalty area.
Man of the match Mills then turned provider to give the Glassboys a 3-1 lead when Andre Landell continued his good run of goalscoring form from close range.
It looked as though Stour had done enough to reach the next stage of the competition until two late goals from substitute Jordan Graham ensured the tie was settled in a dramatic shoot-out.
STARTING XI:
Price, Green, J.Brown, Morris, O'Hanlon, Fletcher, Deeney, Knights (Riley), Mills, Landell, Peniket (K.Brown)