Matthew Barnes-Homer drew Harriers level at Aggborough
Kidderminster hit back to boost their play-off hopes and prevent Burton from booking a place in the Football League.
Other results meant the Brewers would have only needed a point to be sure of going up and Lee Morris's close-range header seemed to set them on their way.
But strikes from Matthew Barnes-Homer and Brian Smikle won it for Harriers.
The result means Cambridge can pip Burton to the title if they win their last two games, Burton lose both games and a six-goal deficit is overturned.
A day of celebration seemed to be on the cards for the Brewers when Roy McFarland's men went ahead through Morris just before the break.
Morris reacted quickly to nod in at the far post following Jake Buxton's knockdown.
But Harriers, who stretched their unbeaten run to 12 games, responded in fine fashion after the interval and levelled when Burton keeper Saul Deeney parried Smikle's header, Barnes-Homer netted from close-range.
Smikle's volley 10 minutes from time secured maximum points.
Kidderminster manager Mark Yates told BBC Hereford & Worcester:
"I am delighted with a lot of things today and the lads can be well proud of themselves.
"It was a massive three points for us, especially going in trailing 1-0 at half-time.
"Credit to the boys, they have dug in against the champions-elect."
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