A Souleymane Coulibaly hat-trick saved Tony Hackworth's men on Tuesday night.
Pikes had fallen behind inside four minutes, only for Coulibaly to level four minutes later.
West Yorkshire visitors Horbury Town then hit back twice before half-time to go in 3-1 up at the break.
Joe Wood made it 3-2, five minutes into the second half, but when Horbury made it 4-2, within four minutes, some feared it was game over.
Crucially, Coulibaly hit back on the hour for 4-3.
The Ivorian striker then ensured a grandstand finish with his hat-trick goal in the final minute for 4-4.
Pickering are ninth but just four points off second spot.
Pikes are next in action on Saturday, in the FA Vase second round, at home to Northern League Second Division side Yarm & Eaglescliffe.


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