Mansfield advanced 3-1 on penalties after Lucas Akins had levelled the tie with a 93rd minute equaliser.
It sets up the prospect of a glamour tie for the League Two promotion hopefuls with the Premier League big cheeses potentially awaiting in the next round.
Here’s how SkyBet now rate Mansfield’s chances of going on to lift the trophy.
Get full reaction to the win, and the upcoming draw, here.
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Mansfield Town progressed after beating Peterborough United on penalties. Photo: Chris Holloway
. Manchester City
7/2 Photo: George Wood
. Manchester United
11/2 Photo: Matt McNulty
. Liverpool
6/1 Photo: Matt McNulty
. Chelsea
8/1 Photo: Justin Setterfield
. Arsenal
9/1 Photo: Ryan Pierse
. Newcastle United
12/1 Photo: Michael Regan
. Aston Villa
16/1 Photo: Justin Setterfield
. West Ham United
16/1 Photo: Matt McNulty
. Brighton & Hove Albion
18/1 Photo: Eddie Keogh
1. Manchester City
7/2 Photo: George Wood
2. Manchester United
11/2 Photo: Matt McNulty
3. Liverpool
6/1 Photo: Matt McNulty
4. Chelsea
8/1 Photo: Justin Setterfield