The Shots assaulted the visitors' goal early on and Lee Worgan had to repel efforts from Shamir Fenelon and Matt McClure (twice) inside the first 10 minutes.
The stopper was in action again midway through the first half, saving twice in quick succession from Jake Gallagher and Iffy Allen.
After the interval, Alex Flisher missed a good chance for Maidstone, firing wide after being sent through by Dumebi Dumaka.
The match looked to be ebbing away to a draw until Mensah played a neat one-two with McClure and lashed in for the hosts.
Report supplied by the Press Association.
Match ends, Aldershot Town 1, Maidstone United 0.
Second Half ends, Aldershot Town 1, Maidstone United 0.
Substitution, Aldershot Town. Jim Kellerman replaces Shamir Fenelon.
Goal!  Aldershot Town 1, Maidstone United 0. Bernard Mensah (Aldershot Town).
Tom Mills (Maidstone United) is shown the yellow card for a bad foul.
Liam Bellamy (Aldershot Town) is shown the yellow card for a bad foul.
Cheye Alexander (Aldershot Town) is shown the yellow card for a bad foul.
Substitution, Aldershot Town. Bernard Mensah replaces Iffy Allen.
Substitution, Maidstone United. Dumebi Dumaka replaces Callum Driver.
Substitution, Maidstone United. Jack Paxman replaces Ben Greenhalgh.
Second Half begins Aldershot Town 0, Maidstone United 0.
First Half ends, Aldershot Town 0, Maidstone United 0.
First Half begins.
Lineups are announced and players are warming up.
Substitute Bernard Mensah grabbed a late winner to give Aldershot a 1-0 victory over Maidstone at the Recreation Ground.