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Dale defeat Quakers on penalties
Perkins (l): Scored and was later sent off
The semi-final had to be settled by spot-kicks after a 3-3 aggregate score and Dale triumphed at Spotland to progress to the final against Stockport or Wycombe - who meet later in the day - at Wembley on Monday May 26.
Clark Keltie's controversial 28th-minute penalty put Dave Penney's Quakers 3-1 ahead on aggregate but hosts Rochdale showed tremendous guts to fashion an impressive comeback.
They drew level shortly before half-time through Chris Dagnall and a deflected strike from David Perkins - who was later sent off in extra-time - fired them 2-1 ahead to level the tie at 3-3 with 12 minutes of normal time remaining.
That ensured 30 minutes of extra-time and after the sides could not be separated a penalty shoot-out ensued at an emotionally drained Spotland.
Both sides converted their first four spot-kicks and after Rochdale goalkeeper Tommy Lee saved Jason Kennedy's effort, Ben Muirhead stepped up to claim the winning penalty.
Rochdale's long-suffering fans were ecstatic and invaded the pitch in their hundreds as the dream of finally breaking out of the bottom tier of English football moved a huge step closer to reality.
The Lancashire outfit have resided in the bottom division since 1974 - the longest unbroken run in the bottom division of the Football League - but boss Keith Hill has assembled a talented young side who will fancy their chances of Wembley glory.
They carved out a golden opportunity inside the second minute which was spurned.
Adam Rundle flighted a perfectly-weighted cross from the left flank and Dagnall powered a header wastefully over the crossbar from little more than six yards.
It proved costly as Darlington opened the scoring in the 27th minute when Keltie curled in a deep free-kick to the far post and on-loan Peterborough striker Rene Howe challenged Darlington midfielder Kennedy.
Contact looked minimal but Kennedy's vigorous appeal led to referee Richard Beeby pointing straight to the penalty spot and showing Howe a yellow card.
Keltie dispatched the penalty ruthlessly with a right-foot strike into the top corner but Dale drew level three minutes before the break when Rundle's whipped free-kick was bundled in by Dagnall at the near post.
The goal poured confidence into Rochdale as they came out for the second half but they were fortunate to survive in the 47th minute when Ricky Ravenhill struck the crossbar with a long-range shot.
A minute later he was booked for simulation and with the momentum behind Rochdale, the hosts forged ahead in the 78th minute.
Perkins collected possession 25 yards from goal, advanced forward and struck a fierce left-foot shot which deflected off Kennedy and past goalkeeper David Stockdale.
Perkins was shown a straight red card for a challenge on Ravenhill in the 109th minute but Dale held on in the closing stages to take the tie to penalties.
Guylain Ndumbu-Nsungu, Rob Purdie, Neil Wainwright and Ravenhill all scored for Darlington but their fifth spot-kick from Kennedy was saved by Lee.
And Muirhead was left to take the glory after Dagnall, Tom Kennedy, Adam Le Fondre and Gary Jones had previously scored.
