The visitors had fallen behind to the promotion-chasing Tykes midway through the first half but fought back to earn a deserved point.
It was the fourth time in their last five meetings that the two sides had drawn.
As well as dropping two points at home Barnsley were also dealt a double injury blow, with Antony Kay and Martin Devaney both limping off.
Barnsley had been the better side during an entertaining first half.
The lively Paul Hayes had a fourth minute shot well parried by Hartlepool's Greek keeper Dimitrios Konstantopoulos.
Three minutes later Brian Howard delivered a good cross to the near post and Hayes was unlucky to see his flicked header flash just wide.
Barnsley made the breakthrough in the 27th minute. Chris Shuker, who had spent a spell on loan at Hartlepool, was twice involved in the move and when Hayes played the ball into the box midfielder Jacob Burns was clearly brought down. Marc Richards converted the penalty for his fifth goal for Barnsley.
Yet it was Hartlepool who came racing out of the blocks at the start of the second half.
Striker Eifion Williams twice missed good chances before making it third time lucky in the 50th minute, his low drive giving keeper Nick Colgan no chance.
Barnsley tried hard to grab a winner but Howard fired straight at the keeper before Shuker sent a free-kick over the top.
Fifteen minutes from the end Barnsley lost winger Devaney after his good run had ended with him over-stretching for the ball.
He had to be helped off and Barnsley boss Andy Ritchie sent on young Nathan Jarman as he switched to a 4-3-3 formation.
But despite having an extra forward the home side could not force a second goal, with Richards bearing the brunt of the home crowd's frustration in the closing minutes.