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Aaron Ramsey's Yellows took the lead in the first half thanks to a peach from Aston Villa loanee Luka Lynch, before a chaotic second half saw Oxford concede an equaliser and reduced to nine men.
Defender Peter Kioso and striker Gatlin O'Donkor both received second yellow cards, meaning United had to weather a late storm to hold onto a point at the One Call Stadium.
Here is how we rated the U's on Thursday night...
Three total saves but a couple of sketchy moments with his feet.
Fumbled the ball for the equaliser, not strong enough coming for the cross.
Disappointing on his return to the team and needs to get some form and rhythm back.
Kioso was a bit clumsy in some of his actions, picking up a booking and winning fewer than half of his duels.
Began the second period better, but was dismissed with 15 minutes left after the referee judged him to have dived, receiving a second yellow.
Peter Kioso goes down in the box before being sent off (Image: Richard Parkes)
A couple of slip-ups with his feet but was in the right place to deal with crosses for most of the evening.
11 clearances to his name with backs against the wall late on.
Instinctive to find himself in the right areas at the right times as the Stags got forward.
Immense with 15 total clearances, won all six of his duels and put in a good sliding challenge after a dangerous Mansfield cross.
Needed help as left one versus one - sometimes versus two - a lot in the first half and dribbled past twice.
Won four of his five tackles.
Cameron Brannagan confronts the referee (Image: Richard Parkes)
A big error almost led to a goal which was out of character but passing was decent overall with one key pass to his name.
Got forward a bit more in the second half before having to defend again after the red cards.
Taken off at the hour mark after a tough outing against a persistent Mansfield.
A beauty of a strike for his first professional goal and was easily United's biggest threat.
Luka Lynch celebrates his first professional goal (Image: Richard Parkes)
Was dangerous both cutting inside and getting to the by-line, beating his man and winning three fouls.
That is three assists and one goal in his first five Yellows appearances. Not bad.
Isolated up top.
He is not a hold-up striker so struggled to get involved, with the midfield not there to help him out on many occasions.
His only effort all game was an early glancing header wide.
Siriki Dembele drives with the ball for Oxford United (Image: Richard Parkes)
A quiet one for his standards this season but grabbed an assist, performed some important carries and won three fouls.
Substitutes:
Mo Missanga (59') - 6
Gatlin O'Donkor (59') - 4
Gatlin O'Donkor fouls his man before receiving a second yellow card (Image: Richard Parkes)
Unlucky with the first booking but a silly challenge for his second whilst already on a yellow.