Kempston were looking to bounce back from Tuesday’s loss at Barton Rovers, returning to Hillgrounds for the visit of Yaxley.
Kempston started brightly and took the lead through Ben Baker in the 7th minute.
The visitors equalised on the half hour mark, striker Tom Waumsley finding the net via a deflected shot.
Rovers entered half time in the lead, debutant Ladipo heading in at the front post.
Kempston looked to be out of sight on the hour mark, Jordan Slama volleying in from 12 yards out.
However, The Cuckoos found two more goals, firstly from Waumsley on the 80 minute mark, and substitute Liam Hook levelling in stoppage time.