England, unbeaten in their opening two games, were made to pay for failing to make their chances count as they lost 19-18 despite scoring three tries to one and dominating much of the match.
Bath flanker Josh Ovens grabbed the opening score, but Ireland crept ahead at 6-5 at half-time.
Hurrell and Leicester Tigers teammate Greig Tonks combined in a sweeping attack which set up a penalty for Rory Clegg as England went ahead for a second time.
Ireland, though, fought back with an interception try then added a penalty for a 16-8 lead going into the final quarter.
England responded and, as the ball zipped away from a midfield scrum, Hurrell raced down the left for a well executed try.
George Low added another try and England looked to have extended their winning run, only for a 45-metre Ian Madigan drop goal to snatch the victor for the home side in the last seconds the game.
Tigers scrum-half Sam Harrison made his Under-20 debut as a second-half replacement.
England U20: Greig Tonks (Leicester Tigers); Seb Stegmann (Harlequins), George Lowe (Harlequins), Tom Casson (Saracens), Will Hurrell (Leicester Tigers) (James Short (Saracens 70); Rory Clegg (Newcastle Falcons), Dan White (Leeds Carnegie) (Sam Harrison, Leicester Tigers 60); Ben Moon (Exeter Chiefs), Jamie George (Saracens), Shaun Knight (Gloucester) (Bob Baker, London Wasps 55), James Gaskell (Sale Sharks), Peter Elder (London Wasps) (Carl Fearns, Sale Sharks 59), Josh Ovens (Bath), Calum Clark (Leeds Carnegie, captain), Chris York (Harlequins).
Replacements not used: Arthur Ellis (London Wasps), Tom Sargeant (Harlequins), Freddie Burns (Gloucester)
Scorers: Tries - Ovens, Hurrell, Lowe. Penalty - Clegg.
Ireland U20: Dave Kearney (Lansdowne); Ronan O'Mahony (Garryowen), Ian McKinley (UCD), Eamonn Sheridan (Lansdowne), Michael Keating (Clontarf); Ian Madigan (Blackrock), Mathew Healy (Lansdowne); Paddy McAllister (Ballinahinch), Tom Sexton (Old Belvedere), Jack McGrath (St Mary's College) (Jack O'Connell, Lansdowne 55), Ciaran Ruddock (Neath), James Sandford (Queen's Univ) (Mark Flanagan, UCD 70), Rhys Ruddock (Millfield School), Dominic Ryan (Lansdowne), Peter O'Mahony (Cork Constitution, captain) (Michael Noone, Seapoint 63)
Replacements not used: Davy McGregor (Ballinahinch), Conor Murray (Garryowen), Shane Gahan (Lansdowne), Gary Foley (Blackrock College).
Scorers: Try: Keating. Conversion: McKinley. Penalties: McKinley 3. Drop goal: Madigan.
Yellow card: Flanagan 74
