The 19-year-old striker's deft chip in the first half ensured his side overcame their opponents in what was a game lacking any spark.
Wes Hoolahan stung the palms of Willy Gueret early on after he got on the end of Arturo Lupoli's clever flick and hit a rasping half-volley from 25-yards but the Frenchman held onto the effort well.
But that aside there was little in the way of action
It took half an hour for the first real chance to come as Omar Koroma was played through on goal by a defence-splitting pass from Hoolahan, but Gueret was off his line quickly to block the shot.
Dons then went straight up the other end and carved out a chance for Baldock that he blazed wide.
It was a miss that he wouldn't regret though as minutes later he gave Dons the lead. Captain Keith Andrews played him through on goal with a superb pass and the striker then coolly lifted the ball over David Marshall from ten yards.
Dons started the second half brightly, fizzing the ball around with intent, and Baldock could have put the them 2-0 up within minutes of the restart but he blazed over Luke Howell's clever low cross from ten yards.
But they couldn't build on that and Darel Russell hit a blistering 25-yard effort that thundered off the post.
It raised the Canaries spirits and with the dangerous Jamie Cureton also brought on they started to come into the game more.
But for all their huffing and puffing they couldn't break through the Dons' tight defence.
Their only other shot of notice came late on when Sammy Clingan curled wide as the Dons held on to progress to the second round and a possible cup run.