Danny Nicholls welcomed back the returning Jamie Kearns and Drew Roberts into the team, at the expense of Dean Powles and Gary Crawshaw, but the form of defenders Greg Williams and Kamran Abassi meant Matt Hayward had to be content with a place on the bench.
As in last Saturday's game at Team Bath, the Ducks got off to a flying start, on top in the early stages. Liam Folds lashed a shot across goal after a free-kick dropped to him.
United then raced into a sixth minute lead. Superb link up play between the front pairing of Jaggard and Roberts put the latter free, and he turned his man inside-out before firing sweetly past Woodcock. 1-0 Aylesbury
Daniel Mead had a rare headed effort held, having risen well to connect with Roberts' free-kick, as in similar fashion to the previous week, Aylesbury failed to make the most of a positive start.
Wroxham's biggest threat came from left-winger Gary Gilmore who gave United a constant headache with his hard-work and skill on the ball. A misplaced pass from the Ducks gave Gilmore a sight at goal, but Jack Rashid read the shot well to make a good save.
Rashid then made another save, this time plucking Adrian Coote's curling effort out of the air, after the former Norwich front man turned sharply.
United survived a scare after half an hour, escaping a goal mouth scramble unscathed, before Folds headed Kearns' free kick over the bar just before the break.
Half-time: Wroxham 0-1 Aylesbury
The second half began with Wroxham in the driving seat, keeping the ball well and using their wide pitch to spread the ball about well. Playing against the wind seemed to affect United, and they struggled to contain their hosts.
Gilmore was still a thorn in Aylesbury's side, and he drew a fine one-handed save from Rashid soon into the second half, having latched onto Williams' misdirected headed clearance. Coote fired over minutes later.
Aylesbury then went on to hit back and fashion some chances of their own. Neil Lazarus intercepted a poor throw out from goalkeeper Woodcock, but his shot was misdirected when he had players to pass to.
Jonathan Bewers fancied getting on the score sheet for a second consecutive game, creating space for himself but only shooting straight at the keeper.
United's best opening of the second period came after 61 minutes. Lazarus was picked out on the right wing, and he worked the ball quickly inside to Edgeworth, who fired in a shot which was beaten away at the near-post by Woodcock.
Edgeworth went close minutes later with a firmly struck shot which whistled over the bar, before Bewers placed an effort wide having run at the defence.
The Ducks continued to pose questions of their hosts, but as has been the case so far this season, just couldn't find the killer touch in front of goal. Edgeworth hit the side-netting after connecting with Scott McCafferty's deep cross.
United's midfielder then had to go on the defensive. Gilmore did well to round Rashid, and his hanging cross was headed behind by Edgeworth with Yachtsmen queuing up to nod the ball home.
As the game entered the final 15 minutes Wroxham saw more and more of the ball, and United were forced to try and keep possession in the corners.
Coote fired well wide for the home side, before substitute Gavin Lemmon connected with a sweet volley which had Rashid produce another fantastic save to tip the ball wide.
Finally, disaster struck for the Ducks. Referee Mr. Feerick added a seemingly excessive amount of stoppage time, and in the 98th minute Coote popped up to run into the box and joyfully smash home his 7th goal of the season.
After a further five minutes of stoppage time, the game finally drew to a close. For the second time this season Aylesbury will require a replay to determine the outcome of an FA Cup game, but at least they remain in the draw for the next round.