From his cross, Whelpdale chested down the ball and hit a low drive on the turn past County keeper Bartosz Bialkowski.
Whelpdale turned provider for Gillingham's second shortly after, as Danny Kedwell latched on to his through-ball to fire in his sixth goal of the season.
Callum McGregor scored a brilliant consolation for the visitors with a solo effort from 25 yards 11 minutes from time.
A Leon Legge half-volley and a Whelpdale effort from 25 yards were the closest the Gills came to extending their advantage as they picked up their third win in the five.
- Sports & Recreation
- Chris Whelpdale
- Danny Kedwell