Aldershot continued their impressive form under Andy Scott and went ahead through Craig Reid's opener but Leon Legge levelled for the 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 goalkeeper Jamie Young to ensure the clash finished 1-1. 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 keeper 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."
Scott followed up last weekend's victory over Fleetwood with a hard-earned point at Chesterfield in midweek, and this draw preserved his three-match unbeaten record since taking the reins. But he did feel it was two points dropped in the Hampshire club's battle to avoid the drop.
He said: "We're just disappointed that we've only got a point and to say that against the league leaders, who have only lost once away from home, shows exactly the mentality in the squad at the moment. That's exactly what we're trying to harness.
"In the first half we defended fantastically well. We needed to link our play better, we were a bit sloppy and we needed to slow down when we won the ball. There's a tempo you need to play at, you've got to calm yourself down and use it.
"I'm disappointed with the sloppy goal we've conceded but after three games we're nit-picking about throw-ins and things like that, I would have settled for that from the first day I walked through the door."
- Sports & Recreation
- Leon Legge
- Jamie Young