Fourth-placed Frankfurt opened the scoring in the 76th minute through Jonathan De Guzman before centre-back Brooks slotted the ball home in the final minute.
The result leaves Frankfurt two points clear of Borussia Monchengladbach in the race for a top-four finish, while ninth-placed Wolfsburg are now four points off the top six.
Wout Weghorst had an early chance to put Wolfsburg ahead after play was delayed while a number of plastic balls – thrown as part of continued protests against Monday night Bundesliga football – were collected from the pitch, but his effort was cleared off the line by the visiting defence.
Frankfurt goalkeeper Kevin Trapp denied Weghorst again towards the end of the first half with a low diving save that prevented the Dutch striker scoring his 13th league goal of the season.
Frankfurt, who like Wolfsburg had lost their previous Bundesliga match, broke the deadlock after a rebounded strike fell for De Guzman, who took a touch before slotting past Pavao Pervan.
However, the visitors were not able to hang on as a late gamble for Wolfsburg paid off.
Defender Brooks was pushed up front and he tapped into an empty net to level the scores in the 90th minute and boost his side’s Europa League qualification hopes.