Joe Flacco threw a 26-yard touchdown pass to rookie Torrey Smith with eight seconds to play, lifting the visiting Baltimore Ravens to a 23-20 victory over the Pittsburgh Steelers on Sunday night.

The winning score capped a 13-play, 92-yard drive and came four plays after Smith had dropped a pass in the other corner of the end zone. It was the rookie's first touchdown since hauling in three scoring passes in Week 3.

Flacco threw for 298 yards and Ray Rice had 86 total yards and a touchdown as the Ravens (6-2) swept the season series from the Steelers to move into a tie with Cincinnati atop the AFC North.

Pittsburgh (6-3) appeared on its way to its fifth consecutive victory when Ben Roethlisberger threw a 25-yard scoring pass to Mike Wallace with 4:59 to play to give the Steelers their first lead at 20-16.

Billy Cundiff kicked three field goals, including a 51-yarder on the final play of the first half to give the Ravens a 9-6 lead.

Rice's 4-yard scoring run boosted the lead to 16-6 with 4 1/2 minutes to go in the third quarter, but Roethlisberger led an 11-play, 80-yard drive capped by Rashard Mendenhall's 1-yard run to make it 16-13 with 14:32 left.

Roethlisberger threw for 330 yards on 20-of-37 passing with one TD and one interception. It was the third straight 300-yard game by Roethlisberger, who has thrown for 1,056 yards in that stretch.