Marco Sau scored deep in added time to secure a point for the hosts, who had earlier been reduced to nine men after two red cards for dissent.
Bryan Cristante and Aleksandar Kolarov scored the first half goals for the Giallorossi.
Artur Ionita headed home from a corner with five minutes remaining to spark the Cagliari comeback.
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The Giallorossi are next in action on Wednesday, as they face Viktoria Plzen in the final group game of the Champions League.
The next Serie A clash sees Genoa come to the Stadio Olimpico a week on Sunday.
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