Cambridge slumped to a fourth defeat in a row after conceding two penalties and an own goal against Hereford.
Ryan Bowman put the Bulls ahead from the spot after the referee penalised Liam Hughes for hand ball.
Sub Tom Shaw equalised from 20 yards, but Rossi Jarvis then diverted Sam Clucas's shot into his own net.
Cambridge's hopes were finally snuffed out when Harrison Dunk fouled Marlon Jackson and Bowman converted the penalty, his 17th goal of the season.
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