Derby, trounced 6-0 at Anfield last September, took the Merseysiders all the way and deserved a point for their second-half performance alone.
Another rout had looked on the cards when Fernando Torres opened the scoring for the visitors with just 13 minutes gone.
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Stand-in Derby keeper Lewis Price had only started after Stephen Bywater's shoulder injury flared up during the pre-match warm-up.
It looked like he was in for a busy afternoon as Liverpool took a grip of the game.
But both Gerrard and Xabi Alonso looked out of sorts at the heart of the Reds midfield and chances were few and far between in a scrappy opening period.
But the second half was a different story as a succession of injuries and substitutions left Liverpool playing an unfamiliar 4-2-4 formation.
Alonso and Gerrard were outnumbered in midfield and for 20 minutes Rafael Benitez's men struggled to get the ball into the Derby half.
The Derby fans scented blood and got behind their team as they realised Liverpool were there for the taking.
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The equaliser finally spurred Liverpool into action and for the last 20 minutes they looked a different side although Derby had their fair share of goal scoring opportunities.
Benitez brought on Dirk Kuyt for Babel as Liverpool went looking for the winner, but it seemed a goal would never come as Alonso, Kuyt and Torres all came close without success.
Gerrard had finally woken from his earlier slumber and drove Liverpool forward forcing a fine fingertip save from Price and then thundering a shot against the underside of the bar.
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The winner came with just a minute to go after Derby felt they should have been awarded a free-kick deep in enemy territory.
Instead the ball fell to Gerrard who set off on a marauding run down the left leaving Derby defenders stranded in his wake.
He fed Yossi Benayoun, who cleverly cut inside and found Torres whose shot rebounded off Price into the path of Gerrard, who turned the ball home from close range.