Tyler Harvey flicked a 78th-minute header wide of the Wealdstone far post from Christian Oxlade-Chamberlain’s long throw.
The win was sealed with five minutes to go when Dominic Hutchinson fired in a low left-footed effort into the bottom corner after his cross came back to him following a poor clearance.
“I’m not disappointed with how we played,” Truro City manager John Askey told BBC Radio Cornwall.
“The last 10 minutes we’ve come away from it a little bit, but overall I thought we started really well, we’ve had the best chances.
“It was our final ball, not having a shot or not finishing that’s let us down, and obviously you’ve got to score goals.
“It doesn’t matter what league you’re playing in, you’ve got to put the ball on the back of the net.
“I thought up until their second goal, I thought the only threat really was some set pieces.”
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