The Beavers made it five wins in six as Alex Gibson-Hammond and Ben Seymour scored either side of the break as the play-off chase continues.
An early injury to Bayley Brown introduced super-sub Gibson-Hammond, grabbed the openeer after 30 minutes. Ten minutes later Pierre Fonkeu levelled proceedings. Midway through the second-half, a harsh handball call gave Seymour the platform to restore the lead. The result pushes the Beavers into Fourth.
Seven minutes into the game, Sam Deadfield's dangerous set-piece found Luis Fernandez, but his attempt flew over the goal frame.
Later on, the deadlock was broken as Ruaridh Donaldson kept his composure in the penalty area and found Alex Gibson-Hammond. The Derby County loanee, then slotted the ball past Jonathan Macaulay to score his second goal in two matches.
Five minutes to go before the break The Tudors found the equaliser after Michael Folivi fired a shot towards the goal which was excellently pushed onto the post by Adam Desbois. The ball rebounded into the path of Pierre Fonkeu, who put the ball into the net to level the match.
The home side almost took the lead with a smart flick from Fonkeu nearly catching out Desbois at the near post. Less than a minute later, a poor back pass from Josh Hill was intercepted by Gibson-Hammond and he then teed up Ben Seymour. The striker's shot was a good one but Macaulay made the save.
A few minutes into the second half, Folivi attempted an audacious outside-of-the-boot effort, but the shot was easily caught by Adam Desbois. Chances continued for Hampton & Richmond came when Donaldson drilled a shot which was saved by Macaulay.
A couple of minutes later, Sam Deadfield won a penalty after his pass hit Junior Gyamfi's arm. Ben Seymour stepped up to send Macaulay the wrong way and put The Beavers back ahead.
The Tudors had two glorious opportunities to find the equaliser as Mitford unleashed a powerful volley that Desbois somehow saved. Moments later, Mitford had his header inside the penalty area fly over the bar.
Alex Gibson-Hammond managed to weave his way into space as he fired a shot that took a deflection just wide of the post. From the resulting corner, Gibson-Hammond rifled a shot towards the Hemel Hempstead goal, but the effort just went over.
The Beavers managed to hold out to get the three points to make it four league victories in a row.
This victory means that Hampton & Richmond now move up to fourth in the National League South, while Hemel Hempstead stays sixteenth.
Hampton & Richmond are back in action at The Beveree Stadium on Tuesday at 7:45 p.m. against Welling United.