Barry Corr went off with a shoulder injury for Swindon after only 14 minutes, and was replaced by Blair Sturrock.
Ashikodi had a good run for Swindon but held onto the ball for too long, and when he passed the Sturrock he was only able to hit the ball high into the empty Stratton Bank.
Both sides went into the half time break with the score still level at 0-0, but Swindon took the lead after 56 minutes with a goal from close range, but a tight angle from Sturrock.
Roberts cleared the ball of the line for Swindon, but Northampton finally scored on 87 minutes with a goal from Akinfenwa.
Overall an average game where Swindon could have won if they hadn't sat back after scoring the first goal. Their next game is away to Huddersfield next Saturday.