Burton took the lead after 70 seconds when Shaun Harrad seized on a Steve Kabba flick. Harrad put Burton further ahead with a 32nd-minute penalty after being tripped by Lee Ridley but the Robins hit back with two goals in three minutes.
Justin Richards applied a close-range finish to a David Hutton cross in the 53rd minute and Medy Elito hammered home a 20-yard shot.
Burton were back in front when visiting skipper Michael Townsend turned a Cleveland Taylor shot into his own net and Kabba pounced after Cheltenham failed to clear Harrad's cross.
Pook's free-kick gave the visitors renewed hope before Kabba struck again to make it 5-3, but the visitors refused to lie down. A deflected Pook shot and Richards' second drew them level before Pook smashed the winner with a volley.
Source: Team Talk
Source: Team Talk