Coventry took the game to the hosts from the off as Jack Rudoni – one of four changes made by Lampard after Monday’s loss at Norwich City – headed the recalled Tatsuhiro Sakamoto’s second-minute cross over from six yards.
But Rangers created moments of their own early on as Karamoko Dembele, Harvey Vale and Kone all created chances.
The R’s almost went ahead 10 minutes from the break, but Rushworth did superbly to get back and palm away Kone’s header to keep it level.
The hosts had a penalty appeal turned down shortly before half-time when Paul Smyth went down under a Matt Grimes challenge as an entertaining first half ended goalless.
Coventry went in front eight minutes into the second half as Eccles’ goal – Coventry’s only effort on target until stoppage time – came from Jack Rudoni’s curling cross from the right to send the visiting fans wild.
But 13 minutes later, the scores were level as Vale’s excellent ball found Madsen on the right wing and his low cross was clipped in by Kone.
Rangers should have been ahead not long after when Daniel Bennie fluffed his finish after Vale’s cushioned ball over the back line saw him have a clear sight on goal.
But the home fans did not have to wait long for the winner. Sakamoto felt he had been impeded on the left wing, but with no foul given, Vale found himself near the byline, and when his pacey low cross was palmed away by Rushworth, Madsen took a touch and smashed home from 10 yards.
Bennie almost got a third two minutes from the end when he flashed a low effort just wide of Rushworth’s far post before Eccles had a stoppage-time effort easily saved by Joe Walsh as Coventry’s lack of attacking threat left their fans concerned.
