Justin Tucker kicked a 43-yard field goal as time expired to lift the Baltimore Ravens to a 19-17 victory over the visiting Cincinnati Bengals on Sunday night.

Tucker's fourth field goal of the contest elevated the Ravens (3-2) into sole possession of first place in the AFC North. It also ended Baltimore's five-game home losing streak dating back to last season.

Lamar Jackson passed for 174 yards, one touchdown and one interception and added 58 rushing yards for Baltimore. Mark Andrews caught eight passes for 89 yards and a touchdown for the Ravens.

Joe Burrow scored on a quarterback sneak with 1:58 remaining to push the Bengals (2-3) ahead and also passed for 217 yards and a touchdown.

Cincinnati's Hayden Hurst had six receptions for 53 yards and one touchdown while playing against his former team. Ja'Marr Chase had seven catches for 50 yards and Joe Mixon rushed for 78 yards.

Tucker's other field goals were from 37, 58 and 25 yards.

Cincinnati played without receiver Tee Higgins (ankle) for most of the contest.

Vonn Bell had an interception for the Bengals. Patrick Queen of the Ravens picked off Burrow, his close friend and former college teammate at LSU.

Baltimore outgained Cincinnati 325 to 291.

Tucker boomed a 58-yard field to give the Ravens a 13-10 lead with 10:49 remaining in the third quarter.

Cincinnati had fourth-and-goal from the Ravens 2-yard line later in the period, but a shovel pass play call on the 15th play of the drive didn't develop properly and Burrow's toss toward Stanley Morgan fell incomplete with 2:45 left in the quarter.

The Ravens took over and drove 91 yards on 15 plays while chewing up 8:03 off the clock. Tucker entered and kicked a 25-yarder to make it 16-10 with 9:42 left in the contest.

Burrow's touchdown sneak put the Bengals back in the lead before the Ravens drove for the winning field goal.

Baltimore scored the game's first 10 points before the Bengals scored the final 10 of the first half.

Tucker kicked a 37-yard field goal with 8:03 left in the opening quarter, and Jackson tossed an 11-yard scoring pass to Andrews with 13:26 remaining before the break.

Cincinnati got on the scoreboard on Burrow's 19-yard touchdown pass to Hurst with 4:54 left in the second. Evan McPherson tacked on a 40-yard field goal with four seconds to go to knot the score.

--Field Level Media