Gus Gulfer's side started the game brilliantly and went ahead on 4 minutes through Luke With's 15th strike of the season.
Haringey & Waltham hit back just four minutes to level as the sides went into half-time level.
The hosts took the lead on 64 minutes and seemed destined for a win.
'Side though didn't give up and equalised on 76 minutes through David Laird, who equalled his strike partner With, by grabbing his 15th of the season in the process.
Deep into injury-time substitute Liam Clifton bagged the winner.
The result lifted 'Side into 12th place in the table.
‘Side: Tyler McCarthy, Ibrahim Conteh, Paul Wright, Scott Mitchell, Danny Blake, Harvey Brown, Kai Heather, Sam Edwards (Kobie Ambrose), Luke With, David Laird, Jakub Berkowicz (Liam Clifton)
Subs Not Used: Augustus Ruzgas, George Ademiluyi, Dale Lee