BALTIMORE -- Justin Tucker kicked five field goals, and the Baltimore Ravens held on for a 22-20 win when the Pittsburgh Steelers missed a potential game-tying two-point conversion with 1:06 remaining Thursday night.
Quarterback Joe Flacco completed 24 of 35 passes for 251 yards and one touchdown, leading the Ravens (6-6) to their second win in a row. Baltimore moved within 1 1/2 games of AFC North-leading Cincinnati Bengals.
The Steelers (5-7) saw their three-game winning streak end.
Leading their bitter divisional rivals 10-0 at halftime, the Ravens opened the second half with three consecutive scoring drives. Each ended with a field goal from Tucker, who extended his streak to 27 straight, including nine the past two weeks.
Pittsburgh quarterback Ben Roethlisberger finished 28 of 44 for 257 yards and two touchdowns.
After Tucker's 48-yard field goal extended Baltimore's lead to eight points with 5:37 remaining, Roethlisberger drove the Steelers 79 yards for a score. Jerricho Cotchery caught a 1-yard touchdown pass from Roethlisberger on fourth down.
On the two-point attempt, Emmanuel Sanders was unable to haul in Roethlisberger's pass in the left side of the end zone.
Wide receiver Torrey Smith caught six passes for 93 yards, including the Ravens' lone touchdown, a 7-yard reception in the first quarter.
Steelers running back Le'Veon Bell rushed 16 times for 73 yards, and he scored a 1-yard touchdown with 9:32 remaining, cutting the Ravens' lead to 19-14. The rookie left the game with a possible concussion on Pittsburgh's final drive. Bell took a violent hit that dislodged his helmet as he attempted to score from the 1-yard line.
The play was originally ruled a touchdown, but the officials overturned the call after determined Bell's helmet came off before the ball crossed the goal line.
Smith had three receptions on Baltimore's opening drive, including a 54-yard bomb to the Steelers' 1-yard line. After the Ravens lost 6 yards on the next two plays, Flacco found Smith open in the middle of the end zone for a touchdown.
Pittsburgh's best chance for first half points came when Shaun Suisham lined up for a 50-yard field-goal attempt midway through the second quarter. Timing issues led to the Ravens tackling Suisham for a 12-yard loss.
Taking over on its 44-yard line, Baltimore moved into Pittsburgh territory, leading to Tucker's 43-yard field goal for a 10-0 lead with 3:06 remaining before halftime. During the drive, Steelers linebacker Jason Worilds sacked Flacco and forced a fumble, but the Ravens recovered.
NOTES: Steelers OLB LaMarr Woodley (calf) missed his third straight game. ... Baltimore WR Brandon Stokley sprained a knee in the second quarter and did not return. ... Steelers QB Ben Roethlisberger's road record against AFC North opponents fell to 18-6. ... Baltimore native and 22-time Olympic medalist Michael Phelps attended the Ravens' second-ever Thanksgiving Day game, both at Ravens Stadium. ... The attendance was 71,005. ... The Steelers open a two-game homestand on Dec. 8 against the Miami Dolphins. On the same day, the Ravens will play a third straight home game when they host the Minnesota Vikings.