It was the first fixture between the two rivalling Senegambian nations in AFCON history, and their first competitive meeting since the 2010 FIFA World Cup qualification, where they played out two draws.
With his team having the numerical advantage, Camara raced onto Ismaïla Sarr’s through-ball and slotted a neat finish into the far corner in the 52nd minute.
The battle between the two African titans started in Senegal's favour when Ismaïla Sarr struck via a hefty deflection following the Cameroonians' failure to clear Lamine Camara's corner in the 16th minute.
Jean-Charles Castelletto halved the deficit with a brilliant header from a cross by Olivier Ntcham, but Sadio Mané killed any hope for a Cameroonian comeback with a goal in the fifth minute of added time to secure Senegal's win.
However, Ablie Jallow then scored Gambia's first goal in this AFCON, latching onto an inch-perfect cross and drilling home to equalise in the 72nd minute.
Muhammed Sanneh looked to have equalised for Gambia in the third minute of extra time after yet another brilliant corner, but his effort was ruled out by VAR for handball as Cameroon held firm to win.