Torquay took a deserved lead a minute after the restart after Benyon reacted the quickest to a Hargreaves flick-on from a long KevinNicholson throw and guided a header into the bottom corner.
KevinNicholson crashed a long-range volley against the top of the visitors' bar in the closing minutes but Town, who have already shocked Derby and Swindon this season, held on to continue their remarkable run.