With the Leopards leading 75-60 with 7:47 left, the Quakers used a 21-6 run to tie it at 81 with 3:14 remaining.
Bryce Scott’s 3-pointer gave Lafayette an 84-81 lead with 1:55 to go, but Henry Brooks’ layup cut the deficit to one with 59 seconds left. After Levi Giese hit 1 of 2 foul shots, Penn’s Steve Rennard missed a 3-pointer with 5 seconds remaining.
The Leopards (7-10) won their first road game in nine tries.
The Quakers (2-12), who have lost seven straight, led most of the first half, although Scott’s jumper pushed Lafayette ahead 41-40 at intermission.
Dan Trist added 17 points, Scott 11 and Joey Ptasinski, Seth Hinrichs and Giese had 10 each for the Leopards.
Dau Jok led Penn with 18 points.