The opening goal came when Ulloa and Will Buckley exchanged passes with the former advancing to slot past Allan McGregor, to give Oscar Garcia's side the advantage.
Hull hit the woodwork on two occasions - once before Ulloa's goal through Sagbo - and once after when Curtis Davies' header couldn't beat the post.
But they finally got the goal they yearned for when Sone Aluko played in Sagbo and he rifled home from close range in the 85th minute.
The draw will now see the two sides face off in a replay ahead of a potential quarter-final clash with Sunderland on March 8.
2013/14 FA Cup - fifth round
For breaking stories and all the great banter like us on Facebook: facebook.com/tribalfootball