MINNEAPOLIS – The Vikings knew they held their fate in-hand with just over four minutes remaining in Sunday's divisional battle.

They'd clawed their way back in the gritty contest to take a 29-28 lead, thanks to Ivan Pace, Jr.'s scoop-and-score a couple of minutes earlier. But the 2-point attempt failed, and Minnesota went three-and-out and punted the ball back to the Lions, who drained the clock and kicked a 44-yard field goal to win 31-29.

Vikings RB Aaron Jones, Sr., expressed disappointment postgame.

"That's 4-minute football right there, and you don't want to give them the ball back," he said. "I've got to be better in situational ball. Definitely want to stay on the field and just run that time out and let our defense relax."

Jones' thoughts were echoed by receiver Justin Jefferson, who emphasized that missed opportunities and poor execution overshadowed some of the offense's big plays throughout the afternoon.

"Getting that 2-point conversion, that would have helped tremendously. Getting that third down would have helped tremendously. There are plays being left out on the field," Jefferson said. "But it's no single person's fault. You know, we've all got to be dialed in as an entire team, [all three phases], and come to work."

Vikings Head Coach Kevin O'Connell was asked about the 2-point attempt that would have protected Minnesota from being defeated by a field goal.

"Some motion there, man coverage there; they passed it off. Sam [Darnold] tried to put it in there into a tight window. Might have had Speedy (Jalen Nailor) in the corner. I've got to go take a look at it," O'Connell said. "Just one of those things where you look back on it and those are the types of things, to get those two points would be massive in that moment. Just some of the plays down the stretch, we've got to be able to pitch and catch. Got to be able to have the execution on a [third-and-4]."

Each team Sunday was flagged eight times throughout the course of the game. Seven of the Vikings eight penalties occurred on offense: three holding, two illegal formations, one false start and one offsides.

Penalties stalled drives – such as late in the first quarter when the Vikings were flagged three times before punting – and nullified big plays that included a 30-yard catch by Johnny Mundt being called back.

"It's these little self-inflicted [wounds], whether it's a formation or hold or pre-snap infraction. I've got to get that stuff fixed," O'Connell said. "When you're trying to win at the level we're trying to win against anybody we play, we can't do anything to help give football teams an out.

"We just need to worry about all 11 guys executing the play pre- and post-snap with great detail in all three phases, and I am just going to keep pushing this team every single day to try to do that," he added.

The loss certainly stings, but both O'Connell and Jones highlighted the offense's response to adversity in the second quarter and overcoming an 11-point deficit.

Darnold completed a 25-yard touchdown pass to Jefferson to cap the first drive of the third quarter; on Minnesota's next series, he had the 30-yarder to Mundt that was called back, and two plays later connected with Nailor for a 33-yard gain en route to a 42-yard field goal by Will Reichard.

On the Vikings first series of the fourth quarter, Darnold launched a deep ball to Jordan Addison for 51 yards. That drive ultimately stalled short of the end zone, however, and Reichard kicked a 48-yard field goal.

"The spirits were high," Jones said of the team's mentality at halftime. "We knew we had the ball first [to start the second half], we could come out, respond, put points up and get things rolling. And I feel like we did that … kind of got it rolling, momentum.

"But then we just fell short," he added.

Jones entered the game questionable with a hamstring injury but certainly looked comfortable taking 14 carries for 93 yards that included a 34-yard touchdown – after which he leapt into the stands to execute "The Bank Vault."

"I've been talking about it for a long time," he said of the celebration, "so I had to make it happen."

He also showed up in the passing game with three catches for 23 yards.

One of Jones' grabs occurred halfway through the second quarter; Darnold hit the running back in-stride for a 12-yard gain, moving the Vikings into Lions territory.

"I really appreciate K.O. (O'Connell) scheming that one up," Jones said. "Even after the game, some of [the Lions] players were like, 'Oh, you're running high crosses? I've never seen a running back run that.' Just the trust that [O'Connell] has in me and the belief knowing that, 'Hey, we'll probably get this matchup on this play, and it's going to be an advantage for you. So we're gonna call it.' He called it, and I was ready for it."

That particular play added energy to a series that started with a 15-yard completion from Darnold to Jefferson. But on second-and-8 from the Detroit 43, the QB's pass intended for Addison was intercepted by safety Brian Branch.

"I think the way Detroit disguises certain coverages in the back end, and with different fronts being able to bring pressure in different ways, they do a really good job," Darnold said. "Obviously can't let that happen, but, again, I think Branch made a really good play on that."

Jones appeared to be open on the play and was asked about it postgame.

"I was a checkdown option on the back side off of the play action," he explained. "I think he ended up running into Johnny or kind of lost me a little bit [behind] the guy who was covering me, and I was just kind of hanging out over there."

O'Connell noted the defense as in man coverage and Branch was "leaning to Justin's side" pre-snap.

"Thought we might have a chance there to maybe get Justin going away from all that. [Cornerback Carlton] Davis did a nice job through 5 [yards] – maybe beyond 5 – with a little grab and hold and just throwing the rhythm of Justin off a little bit," O'Connell said. "Thought we might have had a chance to maybe give Aaron the ball there kind of as we talked about the play, but Sam had Jordan flash to him, and Branch did a really nice job being in the area to kind of jump that throw.

"You know, that's one of those things," he added. "Sam made so many good decisions today, threw so many highly competitive throws to give our guys chances, touchdown to Justin included, and they got us on that one."

O'Connell said Darnold overall "played really, really good football" against a tough opponent and facing regular pressure.

Darnold escaped the pocket a handful of times to extend plays with his legs, rushing four times for 39 yards. He finished the day 22-of-27 passing for 259 yards, one touchdown and one interception with a passer rating of 103.5.

Sunday's loss ended Minnesota's undefeated streak and dropped the Vikings to second place in the division behind Detroit. (Though both teams are now 5-1, the Lions have the head-to-head win.) The Packers defeated the Texans with a last-second field goal to improve to 5-2, and Chicago is 4-2 after a Week 7 bye. The Lions and Vikings won't face each other again until Week 18.

Minnesota understands the magnitude of division games, especially in such a close race thus far, but also isn't panicking after its first snag.

"It's still early in the season. Obviously, Detroit is a good football team. Green Bay is a really good football team. Chicago is a good football team," Darnold said. "We're just going to continue to put our heads down and work. That's all we know how to do.

"We have a short week this week and got a lot of guys in there already recovering and getting ready for Thursday [against the Rams]. It's a quick turnaround," he added. "We've just got to continue to – as we do all the time, but especially this week – put our heads down and move on to the next one."