The Lions and Vikings went back and forth on Sunday afternoon, but with a late, decisive drive, Detroit took a 31-29 win.

After a 28-17 loss in the third quarter on Kalif Raymond’s 21-yard touchdown reception, Minnesota took the lead with two field goals by Will Reichard and a 36-yard fumble returned for a touchdown by linebacker Ivan Pace Jr . was returned.

But the Vikings couldn’t finish the game with a four-minute drive, faltering after a three-and-out with 2:32 to play.

Detroit got into the game with a 14-yard run by Jahmyr Gibbs, followed by a pass from Jared Goff to Gibbs for 16 yards to bring the team into Minnesota territory. Ostensibly within field goal range, the Lions remained aggressive, with Goff hitting receiver Amon-Ra St. Brown for a 14-yard gain to the 22-yard line.

From there, the Lions wasted as much time as possible, and kicker Jake Bates hit a 44-yard field goal with 15 seconds left to effectively win the game.

With no timeout, the Vikings managed to complete a pass and score the ball with one second left. But quarterback Sam Darnold was sacked on the next play to end the game.

Gibbs had two touchdown runs in the second quarter to help the Lions extend their 21-10 halftime lead – one from 45 yards and one from 8 yards. St. Brown also caught a 35-yard touchdown from Goff in the second quarter.

Goff had another great day, completing 22 of 25 passes for 280 yards with two touchdowns and no picks. Gibbs finished the game with 116 yards on 15 carries and two touchdowns. St. Brown caught all eight of his targets for 112 yards with one touchdown.

On the other hand, Darnold was 22 of 27 for 259 yards with one touchdown and one interception. His score early in the third quarter went to Justin Jefferson, who caught seven passes for 81 yards. Aaron Jones finished the first quarter with 93 yards on 14 carries, including a 34-yard touchdown to open the scoring.

With Detroit’s win, there are now no undefeated teams in the NFC. The 5-1 Lions will host the Titans next Sunday in Week 8.

The Vikings will see a quick turnaround as they travel on the road to play the Rams on Thursday night.