Vincenzo Iaquinta had given the visitors an early lead with an 11th minute header but instantly went from hero to villain as he was sent off for two yellow card offences in less than a minute.
The Bianconeri clung on despite heavy pressure from Catania but goalkeeper Gianluigi Buffon, who put in a stunning performance to keep the hosts at bay, was eventually beaten six minutes into the second half by Takayuki Morimoto.
It looked like it was going to end all square at the Stadio Angelo Massimino but Poulsen snatched all the points for Claudio Ranieri's men in stoppage time.
It was unfortunate for plucky Catania who were well worth a point at least but the victory sends Juve a point above AC Milan following the Rossoneri's draw against Reggina yesterday, although they remain seven points behind leaders Inter Milan.
Catania slip to 14th.
Juve were eager to get back to winning ways after back-to-back league defeats and they were boosted by the return of Mauro Camoranesi from injury.
He was to have an immediate effect as he put in a cross from the right which Iaquinta headed home in the 11th minute.
The Italy World Cup-winner picked up his first booking for taking off his shirt in celebration and was given his marching orders very swiftly after for a foul in midfield which saw him handed a second yellow.
Catania would have been back on level terms in the 18th minute were it not for a fantastic save by Buffon who somehow kept out Alessandro Potenza's close-range header.
Juve enjoyed a rare opportunity four minutes from half time and should have doubled their lead as Amauri flicked a fierce Pavel Nedved free-kick inches over the bar.
The Bianconeri had Buffon to thank for remaining in the lead and the Italy number one pulled off yet another fine stop in first-half stoppage-time to deny Jorge Martinez.
Juve's goal was finally breached six minutes after the restart as Buffon could only parry Giuseppe Mascara's shot and Morimoto was on hand to head home the equaliser.
Catania should have taken the lead four minutes later but Davide Baiocco's deflected effort crashed back off the corner of the goal frame.
The home fans were up in arms in the 72nd minute when they felt they had two decent shouts for penalties turned down as first Morimoto was tripped in the area and seconds later Juve winger Marco Marchionni looked to have handled the ball.
The narrow escape seemed to spur Juve on and Amauri came close to restoring their lead five minutes from time as he attempted to finish off a good counter attack but Catania goalkeeper Albano Bizzarri managed to tip the Brazilian's lob over the bar.
However, there was still time for Juve to snatch all three points as Poulsen, who had come off the bench less than 10 minutes earlier, scrambled the ball into the Catania net from a corner.
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