Hull City fans spent the game jeering Chelsea's John Terry, playing his second away game since revelations about his private life.
Among the biggest boos were for Terry's foul on Altidore just after halftime that drew a yellow card, one of two Chelsea cautions for fouls in the American.
Later Serbian Branislav Ivanovic was booked for a foul on Altidore, who went off in the 85th minute.
Center back Steven Mouyokolo put Hull ahead in the 29th minute, but Didier Drogba equalized shortly before halftime on a free kick with his 20th goal of the season in his first appearance for the Blues in a month.
Feb. 2 in Hull
Hull City 1 Chelsea 1. Goals: Mouyokolo 29; Drogba 42.
Hull City -- Myhill, McShane (Zayatte, 90), Gardner, Mouyokolo, Dawson, Fagan, Boateng, Cairney, Hunt, Altidore (Kilbane, 85), Vennegoor of Hesselink (Zaki, 66).
Chelsea -- Cech, Ivanovic, Carvalho, Terry, Zhirkov (A.Cole, 81), Ballack (J.Cole, 71), Deco, Lampard, Anelka (Sturridge, 81), Malouda, Drogba.
Referee: Mark Clattenburg.