The match saw the return of Kern Miller after his three-match suspension with Josh Egginton dropping to the bench.
Stamford started brightly, and Joe Boachie had a chance after four minutes, but he put his shot wide of the goal. The Daniels did not have to wait long as Ryan Seal broke the Barwell back line and he slotted the ball under Liam Castle in the Barwell goal.
Barwell almost responded straight away when Lee Hildreth fired wide. Stamford kept on the front foot and were almost gifted a second when Castle cleared the ball against Boachie, but the ball bounced wide of the goal.
The home side were level on the half hour mark when they were awarded a free-kick in just outside the penalty box. Hildreth struck a shot which Dan Haystead could only parry, unfortunately it went straight to Alex Tomkinson who tapped home. Things got worse for Stamford five minutes later when a cross from the left and Brady Hickey was unmarked, and he score from close range.
At the start of the second half, Stamford almost grabbed an equaliser. Seal caught Castle off his line and the Daniels forward attempted to lob the Barwell keeper, but he manged to stretch and palm the ball away at the expense of a corner.
Stamford got themselves back on level terms on the hour mark. A free-kick was swung in from the left and the balled pinged around the Barwell box until Joe Boachie lay the ball back to Joe Burgess who slotted the ball through the crowd of players and into the goal.
The Daniels almost grabbed a third a few minutes later when a close-range header was clawed away by Castle in the home goal. The home side then broke quickly, and former Daniel Eliot Putman put a shot wide of the goa.
With five minutes remaining of normal time, the home side were awarded a penalty after Hickey was fouled. Lee Hildreth stepped up to score. There was still time for Stamford to grab an equaliser. Substitute, Ollie Brown-Hill was fouled, and Jake Duffy floated in the resultant free-kick and Burgess rose highest to head the ball into the Barwell net.
In extra-time neither side could find the decisive goal to prevent the game going to spot kicks.
Neither goal keeper had any chance with any of the penalties as the game went to sudden death. Unfortunately, for Stamford Joe Burgess put his penalty over the bar and saw the Daniels bow out of the competition.