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Derby had earlier hit the underside of the bar from a free kick by Craig Burley, the ball rebounding out from the goal instead of going into the net.
The Rams again had hard luck in the 40th minute as a 25-yard chip from Adam Murray hit the crossbar then rebounded out into play but as players closed in on the ball the linesman inexplicably put his flag up for offside.
Marcus Tudgay replaced Deon Burton on the hour mark. Burton appeared to be suffering from an earlier knock and may have been taken off just as a precaution.
After constant pressure from the Rams it looked as though they were to leave the Valley with no points but a sharp shot from Steve Elliott found the Charlton net in the 93rd minute to give the Rams a well-deserved point.