The Chiefs had a good chance to win this one, even with so much going wrong.
Quinn led the Chiefs down field after Cassel got hurt, and looked as though he'd given them a lead when he connected with Dwayne Bowe for a touchdown. But it was wiped away by an offensive pass interference call on Dexter McCluster, and Succop was forced to kick another field goal.
The Ravens managed to convert two third downs and run out the clock.
"What a football game," Ravens coach John Harbaugh said. "I'm so proud of our guys to find a way to win this football game. We didn't know exactly how it would go, or what it was going to take. We just have to figure it out and win a football game. In the end, we got one more stop and one more first down. That's what we needed to do to win the football game in the end."
Tucker gave Baltimore a 3-0 lead with his field goal late in the first quarter, but Succop's 30-yarder late in the second quarter sent the game to halftime tied.
Kansas City had a chance to pull ahead after Baltimore fumbled the opening kickoff of the second half. Pass interference gave the Chiefs the ball at the 1-yard line, but Cassel fumbled the snap and Reed recovered it, keeping the game knotted 3-all.
Tucker added a 26-yard field goal moments later, and after Cassel was picked off on a pass that bounced off Bowe's helmet, Tucker hit again from 39 yards to make it 9-3.
The Chiefs managed their fourth-quarter field goal before time finally expired.
"This game is as hard as it gets," Lewis said. "We've been in here before. It was the same type of formula. We knew the kind of game we were going to get out of these guys. We knew it was going to be a tough sled. For us to come in and keep fighting and keep fighting and keep fighting, that's the one thing we talked about. ... Just keep playing all the way to the end."
Notes: Chiefs LBs Justin Houston and Tamba Hali each had two sacks. ... Quinn played for the first time since Dec. 20, 2009, with Cleveland. ... The Ravens had 298 yards of offense. They're averaging 310.5 yards in two road games and 457 yards in four home games.