The penalty came when Gold Coast utility Erin Clark was ruled off-side as Isaako attempted a field goal as the first period of golden point drew towards to a close.
It came after a crowd of 18,235 at Robina was treated to a Sunday afternoon thriller, though they will have left disappointed after the Titans gave up another half-time lead.
Amid high tension late in the match, Isaako landed a 74th minute field goal to give his side a 21-20 advantage.
His team-mate Sean O'Sullivan then lost the ball over the line when he thought he'd scored the match-sealer. The Titans went down the other end and half Tanah Boyd stepped up in the 78th minute with another field goal to level the scores at 21-all.
Titans fullback Jayden Campbell broke the club running metres record previously shared by Jai Arrow and Phil Sami, at 290m, in one of the best games played in a Gold Coast jersey.
He ran for 305m in a stunning display but it was the Dolphins, ending a four-game losing streak, who got home to join the Titans on 20 points, two points outside the top eight.
O'Sullivan controlled the play superbly in the early exchanges with his kicks but it was his double pump to put Connelly Lemuelu over that got the Dolphins on the board in the 16th minute.
Veteran Titans playmaker Kieran Foran then started and finished a sensational movement. The classy No.6 lobbed a pass to flying winger Alofiana Khan-Pereira, who kicked ahead for Foran to chase and score.
Foran, captaining the side in his 275th game, was again the provider with another cut-out pass to put winger Phil Sami in to give the Titans a 14-6 lead at the break.
Campbell's hand denied a try after halftime when Jarrod Wallace broke clear and offloaded, but the Dolphins prop would not be denied minutes later when he crashed over next to the posts.
The injection of Anthony Milford off the bench gave the Dolphins spark in the second half, and he held up the Titans defence with skill to put a rampaging Kenny Bromwich over. When Isaako snaffled a Milford bomb the Dolphins led 20-14.
Foran again inserted himself into the fray with a delayed pass to send Brian Kelly in out wide to level it up before the frenetic final 11 minutes unfolded.
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