Fred Zeilinga kicked a last-gasp penalty on his Guinness PRO14 debut to earn Cheetahs a dramatic 24-23 victory over Zebre in Italy.

Cheetahs started brightly, going ahead in the fourth minute courtesy of Ernst Stapelberg's penalty before Makazole Mapimpi scored the first try of the match three minutes later.

But the South African side found themselves 16-8 behind at the break after three penalties from Carlo Canna and Matteo Minozzi's try -- which was converted by Canna.

Stapelberg slotted over two penalties early in the second half to reduce the visitors' arrears but a converted Oliviero Fabiani try gave Zebre breathing space.

Mapimpi's second try handed Cheetahs hope in the 59th minute and Zeilinga, on his return from injury, kicked a last-minute penalty to win the match.