Hertha, who started their campaign with a 6-1 demolition of Eintracht Frankfurt last week, looked set to make it six points from their opening two games when they turned the game around after halftime.
They levelled just after the hour when a Sami Allagui shot took a wicked deflection off the helpess Berkay Dabanli before substitute Ronny converted a penalty, awarded for a foul by Javier Pinola on Alexander Baujohann, with 11 minutes left.
The decision brought angry Nuremberg protests as they claimed Pinola had played the ball, but those were forgotten when Kiyotake's brilliant effort gave Nuremberg their second consecutive draw of the campaign.
(Reporting By Brian Homewood; editing by Martyn Herman)
