Aaron Haswell grabbed an injury-time equaliser with a spectacular free-kick to claim a point for Gary Liddle's men.
Liddle conceded a penalty, 13 minutes into the second half, as Guiseley led with a spot-kick.
The West Yorkshire side had bossed much of the game up to that point.
Goalkeeper Shane Bland equalling Paul Pitman's 484-game appearance record for the Blues, crucially blocked a goal-bound effort in first-half injury time.
Jake Charles flashed a chance across the face of Guiseley's goal before Haswell's moment to shine.
The versatile midfielder had only been on the field 13 minutes before he smashed an unstoppable free-kick into the roof of the away side's net to claim a share of the spoils Whitby barely deserved.
Liddle told Whitby Town TV it was far from a vintage performance:
Liddle's fellow centre-half, Alex Nelson, was the sponsor's choice for man of the match and also spoke to Whitby Town TV at full-time:
Whitby are back in action when they visit league leaders Warrington Rylands, a match you can hear in full on This Is The Coast Extra, next Saturday from 3pm.


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