Arrows took the lead from Thamsanqa Gabuza’s 23rd-minute header, but Stars equalized on 35 minutes through Norikazu Murakami’s penalty before Senamela’s late heroics.
Arrows coach Manqoba Mngqithi started the game without defender Siyabonga Sangweni, who is reported to be distracted by persistent rumours of a big-money move to one of the big Johannesburg clubs or overseas.
The hosts created the first notable chance of the game in the ninth minute when Senamela forced a stunning save out of Arrows goalkeeper Thulasizwe Khuzwayo.
A few minutes later, the upright came to the rescue for Stars with their goalkeeper Tapuwa Kapini nowhere to be seen as they failed to clear a dangerous ball.
Murakami a few great chances before Gabuza opened the scoring, but the Japanese striker got his goal from the spot after Dillon Sheppard was brought down in the box, though it was on the rebound after his initial attempt was saved.
Stars kept on pressing after the break as captain Stanley Kgatla tested Khuzwayo with a thunderous 35-metre piledriver.
Both teams had few notable chances in the closing stages, but it was Senamela who had the final say as he lobbed Khuzwayo to ensure the three points.