Aldershot continued their impressive form under Andy Scott and went ahead through Craig Reid's opener but Leon Legge levelled for the league leaders with a 75th-minute header.
Kedwell, who had scored just once in his last 14 matches before the game, could have won it at the death but headed straight at Shots stopper Jamie Young to ensure the clash finished 1-1 at the EBB Stadium.
But with Port Vale slipping to defeat against Oxford the draw took Gillingham three points clear and one step closer to League One football next season.
"We started unbelievably well, we had three great chances in the first four minutes," Allen said.
"This time of year it's about results and we came back well. Leon Legge showed leadership and led by example.
"It's another point on the board and we're now eight points clear (of the play-off places), we're top of the league as we have been for most of the season, I'm a very proud manager.
"Leon Legge was absolutely immense from start to finish. He has been fantastic for us week in, week out and we can ride it together, the ups and downs, and it's another point to our total.
"It's nothing to do with Danny missing (his chance), the keep made a brilliant save that's how I view it. Brilliant save from Young but great that Danny's in that position, great that he's come back and played the whole game after been out for five weeks with a hamstring injury."