An Ashley Hosking conversion with the last kick of the match at St Clements on Saturday sent Truro through to the Cornwall Cup final.
Truro, who played 60 minutes with 14 men, put in their best second half performance of the season with the forwards especially playing out of their skins.
Jack Tidball scored Truro’s two tries, with Hosking kicking both conversions as well as a penalty.
In the final Truro will play St Austell, who last month beat Falmouth in the other semi-final.
The date and venue for the final are yet to be confirmed, but it is likely to take place in a midweek to avoid a clash with county competitions, with next Wednesday, May 17, looking a potential option.
St Austell were represented by three players in Cornwall’s squad for their Bill Beaumont Cup victory over Somerset at the Recreation Ground, Redruth, on Saturday.
Matt Shepherd and Sam Parsons started, while wing wizard Konnor Ewudzi was among the replacements as Cornwall recorded a 28-19 victory.
Next up for the county is a trip to Havant this Saturday to face Hampshire. They then take on Kent at Camborne on Saturday May 20 with a revised 2pm kick-off from the original 3pm.
The Bill Beaumont Cup final is at Twickenham on Sunday May 28, kick-off time to be announced.
Cornwall Under 20s are out of the Jason Leonard Cup after defeat against Dorset & Wilts on Sunday.
Cornwall Women beat Oxfordshire 57-0 at Polson Bridge.

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