Kildare were short five regulars with their most serious loss being team captain Ben Whelehan.
Dundalk took the lead after 30 minutes A high wind caught a kick-out from goalkeeper Andrew Bayliss and Keith Carthy ran into the Kildare area to nod the ball past keeper Tadhg Murphy.
Kildare equalised in the 65th minute when a mistake by Paul Curran led Shay Zellor in to set up Barry O’Connor for an easy score.
In a very scrappy second half luck went to Dundalk when in the 89th minute good work by Simon Kelly set up Carthy to score from close range.
DUNDALK: Bayliss, Coburn, Isaaka, Curran, McCartney, Sliney, Kavanagh, Simon Kelly, Reilly, McCarthy, Lawless. Subs: Marney for Lawless (77 mins), Kearns for Carthy (90 mins).
KILDARE COUNTY: Murphy, Britton, Cronin, Scully, Purdy, Rogers, Zellor, O’Connor, Ryan, Kenny, Kelly. Subs: Darcy for Kenny (84 mins).
Referee P. Derring (Sligo).