Crane's double sends Worthing through in FA Cup
A double from defender James Crane took Worthing through and also earned the club £9,000 prize money.
Worthing took the lead on 20 minutes when Crane met Jesse Starkey's corner to head home.
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Hide AdThe hosts equalised through Chris Whelpdale six minutes into the second half but Worthing went back ahead on 76 minutes when Crane turned the ball home from another set-piece.
Chelmsford pressed for a late leveller but Worthing held on to book their place in the next round.
The draw for the third qualifying round is on Monday.