Paul Tait gave the home side the lead with a flying finish to a Leo Bertos cross after four minutes but went on to waste several chances including a Greg Heald shot which hit the upright.
Mansfield levelled against the run of play on 38 minutes courtesy of a spectacular Richie Barker overhead kick.
Though Rochdale enjoyed the bulk of the second-half possession, they lacked their early killer instinct and rarely troubled a stubborn Mansfield rearguard that was superbly marshalled by Luke Dimech.