In a game full of late drama, Mark Hudson’s side solidified their mid-table position in the Professional Development League at the PPG Canalside training ground.
All three goals were crammed into the final six minutes and injury time with Terriers defender Rarmani Edmonds-Green heading his side in front on 84 minutes.
Ipswich substitute Jack Lankester curled home an equaliser in the penultimate minute of the 90 minutes, 11 minutes after coming off the bench.
But Daly kept his cool to slot home the winning spot-kick four minutes into added-on time.
Town remain in seventh place in the North table and, with only the top two going into the end-of-season play-offs, will have just two more matches to come – against Watford and Nottingham Forest.
The first of the weekend’s FA Cup semi-finals is definitely the pick on paper and also surely contains the best bet on Saturday’s coupon. Manchester…