It was Town's best game so far but they still had to work hard to overcome a Peterborough side who were determined to give as good as they got.
The Terriers had started very well against the Posh with Chris Hay clean through after 5 minutes but he took a touch too many on the ball and he missed his chance to open the scoring.
John Thorrington continued to impress for Town with his pace and guile and Chris Hay linked well with the two Terriers frontmen Booth and Schofield.
Barry Fry's team were not fazed by their visitors, though, and they did put together some periods of impressive play during the first half.
One of Peterborough's attacks saw Marc Joseph's flicked header to the far post fall for an unmarked Neale Fenn but the striker was unable to capitalise after seeing the ball too late.
Town's efforts were disrupted by an ankle injury to Craig Armstrong after 34 minutes which came in the middle of a concerted period of pressure from Peterborough. Armstrong hobbled off to be replaced by Dwayne Mattis.
It seemed that many of Peterborough's chances were coming through defensive errors as much as genuine chances carved out by the dangerous David Farrell and former Wimbledon striker Andy Clarke and Town subsequently let one of them in to open the scoring.
Seconds after the second half had started Neale Fenn found himself in acres of space and threaded a pass through a statuesque Town defence towards the pacy wingman David Farrell.
Farrell could not miss after being offered up such a chance and the home supporters roared their approval.
Going a goal down was not a great set back for Town who plugged away for the equaliser until they were rewarded 10 minutes later when Chris Hay dribbled down the touchline and passed infield for Danny Schofield who beat the offside trap at the near post and provided Andy Booth with a 4 yard tap-in to equalise.
Both sides then mounted offensive after offensive for the winner before, 20 minutes, from time, the once again impressive Thorrington fired in a curling corner which an advancing Chris Beech met on the penalty spot and glanced into the corner of Tyler's goal to put them into the lead.
The Terriers lived off their nerves for the final few minutes, playing a little deep, but a decent (if sometimes nervous) defensive performance for the rest of the match saw them take the points away from London Road.
Have your say on the match.
Peterborough (4-4-2): Tyler, Hooper, Joseph, Edwards, Farrell, Oldfield (Hanlon 72), Clarke, Wiliams, Fenn (Green 63), Forsyth, Cullen (Bullard 59)
Subs not used: Conner, Macdonald
Booked: Oldfield, Hooper
Scorer: Farrell 46
Town (4-4-2): Margetson, Heary, Evans, Gray, Jenkins, Beech (Holland 81), Armstrong (Mattis 35), Hay (Irons 65), Thorrington, Booth, Schofield
Subs not used: Digby, Moses
Booked: Evans, Armstrong, Thorrington, Heary
Scorers: Booth 55, Beech 70
Referee: MJ Jones (Chester)