The Inland Revenue had been demanding payment of £600,000 owed by the Robins.
A winding-up order was served on the club at the beginning of the month, but the club have now paid the debt in full.
And on Wednesday the High Court formally dismissed the windng-up moved.
Town's non-executive chairman Mark Devlin said: "The Inland Revenue have told the judge that we have paid the bill so the petition to wind us up has been withdrawn."