Striker Kermorgant scored a last gasp equaliser to force the replay last week and then opened the scoring as the Addicks eased towards a fourth round tie at Huddersfield on Saturday.
In the 35th minute Kermorgant was fed by co-striker Simon Church on the edge of the box and rifled home a low shot that was too strong for keeper Ryan Clarke to hold.
Charlton had only won once in their previous ten outings and are just above the Championship drop zone, but Kermorgant's goal immediately settled their nerves.
Less than three minutes later Church also had a hand in Charlton's second goal.
Former Reading hit man Church took advantage of a slip by central defender Michael Raynes, but his point blank shot was parried by Clarke into the path of winger Danny Green who tapped in his second of the campaign from two yards.
Oxford have only won at home four times this season and Kermorgant made sure that poor form continued when he grabbed his eighth goal of the season in the 58th minute.
Kermorgant stepped up to fire a superb 25 yard free kick into the top right corner of the net following a foul by Oxford skipper Jake Wright.
Oxford rarely threatened in a poor game and their best effort came when striker James Constable fired a twenty yard shot straight at keeper Ben Alnwick in the dying stages.
Green nearly claimed his own brace with three minutes to go, but dragged a low shot narrowly wide of Clarke's goal from the edge of the area.
With eight minutes left, Charlton manager Chris Powell gave a debut to highly rated England U-17 midfielder Diego Poyet, son of Sunderland boss Gus.
Neither team posed a serious threat in the nervy period before Kermorgant's opener.
But Kermorgant managed to direct a weak six yard header into Clarke's arms from Callum Harriott's right wing cross in the ninth minute.
And four minutes later Church flicked another ball from winger Harriott wide of the near post.
Charlton boss Chris Powell was delighted with his team after their FA Cup win at Oxford and said:
"I thought the players put in a sterling performance and I was pleased with all aspects of our play. It was also niece to play on a decent pitch for a change.
""Yann (Kermorgant) is our talisman and that goal will also have helped his confidence."
"We need some momentum and to instil some confidence and this result should do that because Oxford are a decent side.
"We weren't under pressure with ten minutes to go and so it seemed like a good time to give Diego Poyet his first taste of first team football and so that was a bonus too.
Oxford manager Chris Wilder was left seething with his team and fumed:
"I'm disappointed because we just slipped out of the back door. For 35 minutes it was a nothing game and then two sloppy goals cost us. The free kick just showed the quality of a Championship side.
"We now have to make sure we dust ourselves down and go again in the league on Saturday. There are a lot of disappointed lads in there - and so they should be. We expect more quality than we showed tonight."
My piece from this morning's paper
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