Usuthu carved out the first chance after eight minutes but Rhulani Manzini guided his header over the crossbar from close range.
The Urban Warriors created their first opening in the 18th minute as Thabo Mosadi's cross found Roscoe Pietersen, who hit the side-netting from close range.
Both sides showed their attacking intent throughout the half, but chances were hard to come by after 30 minutes.
Nevertheless, the score remained goalless as the sides entered the halftime break.
The Urban Warriors eventually broke the deadlock on 52 minutes courtesy of a strike from Masilake Phohlongo.
The lead was doubled five minutes later as Tashreeq Morris got on the score-sheet after some good work by Rheece Evans and Mosadi.
With the Urban Warriors comfortably leading, Stanley Menzo introduced Mdabuka for Phohlongo in the 73rd minute.
However, Usuthu left their comeback for the closing stages as Mhlengi Cele made it 2-1 in the 90th minute to set up a nervy final few minutes.
The equaliser eventually arrived in the fifth minute of stoppage time courtesy of a strike from Mabhuti Khenyeza to seal a point for the visitors.