The hosts took the lead 10 minutes before half-time thanks to a Bobby-Joe Taylor free-kick, but Notts were level before the break.
Richard Brindley was fouled by Taylor inside the box and Mitch Rose sent Lee Worgan the wrong way from the penalty spot to make it 1-1.
The Magpies unfortunately found themselves trailing again in the 57th minute when Kevin Lokko slotted home from Josh Passley's free kick.
However, Neal Ardley's charges the final moments when Dennis, who had entered the pitch in the 80th minute, headed in Rose's cross.
ARLukomski was at the Crabble Athletic Ground for the National League game and has vlogged his pre, mid and post-match thoughts.
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