Jordan Ayew's 86th-minute header sent his team into the next round of the competition without the need for a replay in a game that Palace dominated, chalking up 33 attempts and hitting the post on three occasions.
There was also a VAR-assisted red card for Town's Andrew Fox just two minutes into the contest, and all the major incidents are now available to watch on Palace TV, as well as post-match reaction from Martin Kelly and the returning Scott Dann as well as manager Roy Hodgson.
If you haven't registered yet, sign up today for free and you get access to a host of exclusive video content, including these highlights and interviews with first-team stars.
Head to Palace TV now to watch all this great content free of charge, or register with the service. If you are on the official club app, simply head to Palace TV and go into the Video channel.