Telford needed to win the game in order to prolong their Conference status, but hope were dashed after a late Sean Clancy equaliser.
Steve Kittrick's men will now play their football in the Conference North next season.
IN PICTURES: AFC Telford relegated
[gallery] AFC Telford have been relegated from the Vanarama Conference following their 1-1 draw with Kidderminster Harriers.
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