It looked as though the Robins had blown the win when Naismith pulled Stanley back into the game against the run of play in the 77th minute by slotting in striker James Gray's pass from eight yards.
But in the 93rd minute the midfielder blasted a penalty high over the bar after Lee Vaughan had up-ended substitute Piero Mingoia and manager Beattie fumed:
"Kal's the penalty taker, but there was some interference with that from some of our players and it's something we'll be studying when we look at the video."
But Koby Arthur became an instant hit with the Cheltenham faithful after scoring the winner on his home debut.
Birmingham City loanee Arthur out-paced and out-muscled defender Jordan Mustoe to collect a long punt forward from keeper Trevor Carson and slot in his first senior goal from a tight angle.
Striker Byron Harrison opened the scoring in the 34th minute and then promptly retired hurt.
Joe Hanks's corner was nodded against the foot of the post by central defender Troy Brown and Harrison was the first to react to tap in the rebound from two feet despite carrying a dead leg.
Cheltenham had come close to opening the scoring twice in sixty seconds.
In the sixteenth minute former Accrington striker Terry Gornell's curling shot took a deflection and flew just wide of the far post and Matt Taylor's downward header from the resulting corner was hacked off the line by defender Rob Atkinson.
And Gray was forced to nod a Matt Taylor effort from under the bar as Cheltenham dominated.
Robins boss Mark Yates admitted:
"At the end it probably was a penalty, but fortune was on our side."
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