PITTSBURGH — Torrey Smith wasn’t going to let the game-winning touchdown slip through his hands twice.

Five plays after a sure scoring strike tipped off his fingers, the Baltimore rookie receiver held onto a 26-yard touchdown pass from Joe Flacco with 8 seconds remaining to lift the Ravens past the Pittsburgh Steelers, 23-20, on Sunday night.

Smith capped Baltimore’s game-winning 92-yard drive by Ravens overcome Steelers beating William Gay down the right sideline as the Ravens (6-2) snapped Pittsburgh’s four-game winning streak.

Flacco finished with 300 yards passing and Baltimore swept the season series from the rival Steelers (6-3) for the first time since 2006.

The Steelers appeared to be in control after rallying from a 10-point deficit to take a 20-16 lead with less than 5 minutes to go when Ben Roethlisberger hit Mike Wallace for a 25-yard score.

Pittsburgh’s defense held once and the Steelers moved in range for Shaun Suisham to attempt a 47-yard field goal that could have pushed their lead to seven.

A delay of game penalty, however, pushed Pittsburgh back five yards and the Steelers opted to punt.

Flacco, who fumbled midway through the fourth quarter to set up Roethlisberger’s strike to Wallace, atoned during a brilliant 13-play drive.

He converted a fourth-and-1 at the Pittsburgh 49 with less than a minute to go to keep Baltimore’s hopes alive and Smith made up for a drop with the biggest play of his young career.

The Steelers got the ball back with 8 seconds left but Antonio Brown fumbled a lateral from Wallace and the Ravens poured onto the Heinz Field turf in celebration.