A third goal in the 33rd minute left the Ryman Premier side with a formidable task, but a reply by Neil Jenkins just before the interval gave them hope.
Mo Bettamere pulled another one back with 13 minutes left but Chelmsford hung on to win 3-2, leaving Maidstone as the Ryman League’s sole representatives in Saturday’s second round.
Kingstonian moved up three places to seventh in the Ryman Premier table with a 2-1 home win over Hendon. Kieran Murphy gave them a 19th-minute lead which was extended by Matt Pattison four minutes before the interval.
Hendon, who remain in 21st place, had to wait until the 90th minute for their reply, which came from Julian Owusu-Bekde.
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