Swindon had two goals ruled out for offside earlier in the game, and Tommy Mooney had a shot his the post.
Swindon's first goal of the game came after 84 minutes when Sam Parkin scored with a close range header following a Andy Gurney cross.
Peterborough went close to making in 1-1 late on, but couldn't score past Rhys Evans who had to make a number of good saves through out the whole game.
Swindon the took the ball up the other end and were trying to waste some time by taking the ball down to near the corner flag, before on loan striker James Milner got his first goal for Swindon in injury time with a strike from 12 yards which just beat the Peterborough keeper to make the final score 2-0 to Swindon.
Overall a good result for Swindon after a poor game compared to the game against Leeds in the Carling Cup last Wednesday, but it's home game like this that Swindon need to keep winning if they are to stand any chance of going up at the end of the season. The win moves Swindon up to 2nd in the division on 19 points ahead of the visit of Luton Town this Wednesday evening at the County Ground.