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The National League side, 57 places below their opponents, led through Bobby-Joe Taylor's first-half penalty after Niall Canavan fouled Jamar Loza.
But Camps' deflected stoppage-time 20-yard free-kick prevented an upset.
Maidstone's Anthony Acheampong was sent off after the final whistle for dissent at the award of the free-kick.
Rochdale, who had lost their two most recent first-round ties against non-league opposition, had earlier thought they had levelled on the half-hour but Steven Davies' effort was ruled out for offside.
The visitors, who had struggled to get to grips with the Stones' artificial surface, enjoyed a strong start to the second half as Davies' clever flick released Oliver Rathbone but he could not beat Lee Worgan at his near post.
Davies then nodded just over the crossbar as the visitors began to turn the screw, although both Liam Enver-Marum and Alex Flisher came close to doubling Maidstone's lead.
Taylor came within inches of a second as he fired narrowly over with just five minutes left but a moment of quality from Camps ensured the sides will do battle once again for a place in the second round.
Match ends, Maidstone United 1, Rochdale 1.
Second Half ends, Maidstone United 1, Rochdale 1.
Goal!  Maidstone United 1, Rochdale 1. Callum Camps (Rochdale) from a free kick with a right footed shot to the bottom right corner.
Kevin Lokko (Maidstone United) is shown the yellow card for a bad foul.
Foul by Kevin Lokko (Maidstone United).
Andrew Cannon (Rochdale) wins a free kick in the defensive half.
Attempt blocked. Steve Davies (Rochdale) right footed shot from the centre of the box is blocked.
Foul by James Rogers (Maidstone United).
Andrew Cannon (Rochdale) wins a free kick in the attacking half.
Foul by Seth Nana Ofori-Twumasi (Maidstone United).
Joe Bunney (Rochdale) wins a free kick on the left wing.
Foul by Jack Paxman (Maidstone United).
Joe Bunney (Rochdale) wins a free kick in the attacking half.
Attempt missed. Bobby-Joe Taylor (Maidstone United) left footed shot from outside the box is just a bit too high.
Substitution, Rochdale. Reuben Noble-Lazarus replaces Nathaniel Mendez-Laing.
Foul by Jack Paxman (Maidstone United).
Andrew Cannon (Rochdale) wins a free kick in the attacking half.
Substitution, Maidstone United. Yemi Odubade replaces Liam Enver-Marum.
Jack Paxman (Maidstone United) wins a free kick in the attacking half.
Foul by Andrew Cannon (Rochdale).
Attempt missed. Liam Enver-Marum (Maidstone United) right footed shot from outside the box is too high.
Substitution, Maidstone United. Dan Sweeney replaces Jamar Loza because of an injury.
Foul by Anthony Acheampong (Maidstone United).
Callum Camps (Rochdale) wins a free kick in the defensive half.
Attempt missed. Joe Bunney (Rochdale) left footed shot from the left side of the box is close, but misses to the left.
James Rogers (Maidstone United) wins a free kick in the attacking half.
Foul by Callum Camps (Rochdale).
Foul by Seth Nana Ofori-Twumasi (Maidstone United).
Joe Bunney (Rochdale) wins a free kick on the left wing.
Foul by Anthony Acheampong (Maidstone United).
Steve Davies (Rochdale) wins a free kick in the attacking half.
Foul by Alex Flisher (Maidstone United).
Andrew Cannon (Rochdale) wins a free kick in the defensive half.
Attempt missed. Liam Enver-Marum (Maidstone United) left footed shot from the left side of the box is just a bit too high.
Tom Mills (Maidstone United) is shown the yellow card.
Substitution, Rochdale. Jimmy McNulty replaces Matthew Lund.
Substitution, Rochdale. Donal McDermott replaces Oliver Rathbone.
Bobby-Joe Taylor (Maidstone United) wins a free kick in the attacking half.
Foul by Joe Bunney (Rochdale).
Attempt missed. Steve Davies (Rochdale) header from the centre of the box is just a bit too high.
Callum Camps scored with the last kick of the game to earn League One Rochdale an FA Cup first-round replay against non-league Maidstone United.