Steve Brooker's fourth goal in four starts was not enough to save the Robins from another Coca-Cola League One away defeat.
Brooker struck mid-way through the second half to cancel out an early Alan Wright own goal and at that point it looked, briefly, as if the Robins might be capable of going on to get another goal.
However, Northern Ireland international Andy Kirk had other ideas and struck 16 minutes from time to consign Cheltenham to their 13th defeat on the road this season.
Robins boss Keith Downing made two changes to the starting line-up with Michael D'Agostino and Andy Lindegaard returning to the wide midfield positions in place of Ashley Vincent and Damian Spencer. Alex Russell was named on the substitutes' bench having made only a partial recovery from his stomach injury.
The opening eight minutes of the game were quiet enough but disaster struck for the Robins when they conceded a calamitous goal.
It all began when Yeovil striker Andy Kirk picked up the ball by the half-way line and got away from Andy Gallinagh, who had two attempts at trying to tackle him. Kirk kept going and managed to ride another tackle, this time from Alan Wright, but Andy Lindegaard came across to intercept. The former Yeovil player, making his first visit to Huish Park since leaving the Glovers last summer, attempted a clearance but the ball merely cannoned off Wright and bounced past Shane Higgs into the net for an own goal.
Wright had Cheltenham's first chance of note, a shot from the edge of the area that was deflected behind for a corner, but Marcus Stewart went close to doubling Yeovil's lead when he headed just over the bar from a Mark Lynch cross.
Kirk then shot over the bar from a Stewart knock-down as Cheltenham struggled to get to grips with their opponents, whose confidence was growing by the minute.
Winger Jaime Peters then found himself clean through with only Higgs to beat when a clearance from Jerry Gill bounced off him but the Ipswich Town loanee rushed his shot and smacked it wide of the target.
Yeovil goalkeeper Scott Flinders had his first on-target effort to stop in the 35th minute when a gathered a flick header from Steven Gillespie; but that was a rare moment of action in the Yeovil goalmouth during the first half.
Gallinagh went into the referee's book for a foul on Paul Warne but the Robins were given a good opportunity in first half injury time when Gillespie was fouled right on the edge of the area by Matthew Rose.
Alan Wright hit the free-kick straight into the wall, David Bird's follow-up was also blocked then Craig Armstrong struck a third shot well wide.
Wright had earlier needed some lengthy treatment from sports therapist Ian Weston on what looked like an ankle injury so it was no surprise when he did not emerge for the second half and was replaced by Russell with Armstrong switched to left-back.
Gillespie had Cheltenham's first chance of the second period when he sent a speculative curling effort from a tight angle just wide of the far post; and that set the tone for a mumch brighter start to the second half by the Robins.
Yet no goal was forthcoming in the opening 10 minutes so Downing threw caution to the wind by making a double substitution. Paul Connor replaced Lindegaard with Ashley Vincent taking the place of D'Agostino.
The changes resulted in Gillespie playing just behind a front two of Brooker and Connor with Vincent wide on the right.
It was a definite statement of intent from the Robins boss and the first chance that resulted was a Shane Duff header from a Russell corner that Flinders held onto
Terry Skiverton headed wide from a quickly taken corner at the other end but an equalising goal had been threatened and it duly arrived in the 64th minute.
Vincent received the ball wide on the right and produced a sharp turn of pace and low cross that was missed by a defender in the middle. Brooker collected it at the far post and took a touch before driving a low shot beyond Flinders.
The Robins were on top at that point but they allowed Yeovil to grab the initiative again with a goal 16 minutes from time.
Right-back Craig Alcock took a long throw, Skiverton and Duff collided leaving both players on the floor and giving Kirk the chance to spin and plant a low shot past Higgs from near the penalty spot. The Cheltenham players protested that Duff had been fouled by Skiverton and Russell was booked for making his point too strongly.
Yeovil's Anthony Barry saw a deflected shot pushed aside by Higgs in the closing stages but Connor headed just over the bar from close range after Duff had flicked a Vincent long throw to him.
Higgs saved brilliantly from a Kirk breakaway deep into injury time and there was not enough time to mount another attack before referee Steve Cook blew the final whistle.
YEOVIL TOWN (4-4-2): Flinders; Alcock, Skiverton, Forbes, Lynch; Warne (Bridcutt 73), Rose (Bircham 80), Barry, Peters (Williams 85); Kirk, Stewart. Subs not used: Guyett, Owusu
CHELTENHAM TOWN (4-4-2): Higgs; J.Gill, Gallinagh, Duff, Wright (Russell 46); D'Agostino (Vincent 57), Bird, Armstrong, Lindegaard (Connor 57); Brooker, Gillespie. Subs not used: Brown (Gk), Spencer
REFEREE: S.D. Cook (Surrey)
ATTENDANCE: 4,588