It was Torquay who scored first on 16 minutes, and been given a free kick after a hand ball, where Jeril Ifil picked up the ball thinking it had already gone out of play. Torquay crossed the ball in for Constantine to score from a close range header.
Torquay's lead didn't last long as for the second game running Swindon scored three goals in under 10 minutes. Swindon are now the third highest goal scorers in the division, after scoring eight goals in the last three games.
After O'Hanlon had come close to getting the Swindon equaliser it was Sam Parkin who scored in the end with a close range hander on 27 minutes following a Sammy Igoe corner.
Swindon took the lead on 32 minutes when a Roberts pass found Howard who hit the post, then the ball found its way to Sammy Igoe who scored from 15 yards out.
Five minutes later Swindon went 3-1 up when a Roberts pass found Brian Howard facing the advancing Torquay 'keeper, so he shot from 25 yards out with the ball passing the 'keeper who didn't have time to do anything about it.
Torquay did hit the post with a long range shot, but the ball was cleared away to safety.
Within five minutes of the second half starting Swindon had used two subs with new loan player Steve Jenkins going off injured to be replaced by Andy Nicholas, and Steve Robinson being replaced by Grant Smith.
Torquay fans thought they had been given a penalty, when the referee looked to be pointing to the spot, but he was actually pointing for a Swindon goal kick.
On 66 minutes Torquay made in 3-2 with a goal from Akinfenwa from 12 yards out.
On 85 minutes Torquay should have been given a penalty for a David Duke foul, but seconds later Torquay had the ball in the back of the net anyway with another goal from Akinfenwa making it 3-3.
Overall Swindon really should have won the game. It was the third time this season that Swindon have just sat back expecting to win, and then allowed the other time to at least equaliser. The other times were Swindon giving away a 2-0 lead at Walsall to lose 3-2, and a 3-0 away lead at Stockport to also draw 3-3, how ever on Wednesday night Sheffield Wednesday did the same by allowing Swindon to come from 2-0 down to win 3-2.
Swindon's next game in on Tuesday evening against Exeter City in the second round of the LDV Vans Trophy.