Town took the lead six minutes before half time when Gary Roberts volleyed home his first Town goal just seconds after Derby had a goal ruled out.
Steve Howard levelled the scores nine minutes into the second half and five minutes later Town were reduced to 10 men after Simon Walton was sent off for a second bookable offence.
Lupoli was left unmarked at a corner during stoppage time and able to head home to keep the points in the midlands.
Derby: Bywater, Edworthy, Leacock, Michael Johnson, Boertien, Bisgaard, Jones, Barnes, Seth Johnson (Lupoli 60), Howard, Stead (Moore 90).
Subs Not Used: Bolder, Grant, Jackson.
Booked: Seth Johnson, Michael Johnson, Jones.
Goals: Howard 54, Lupoli 90.
Ipswich: Price, Bruce, Naylor, De Vos, Harding, Roberts (Sito 77), Garvan, Walton, Richards, Lee, Clarke (Williams 63).
Subs Not Used: Macken, Haynes, Supple.
Sent Off: Walton (2 yellows).
Booked: Walton, Garvan, Lee.
Goals: Roberts 39.
Attendance: 22,606
Referee: R Lee (Essex).
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