MINNEAPOLIS — The mob found Greg Joseph and celebrated.

The Vikings kicker drilled a 54-yard field goal as time expired to lift Minnesota to a 19-17 victory over Detroit Sunday at U.S. Bank Stadium.

Kirk Cousins completed passes for 21 yards to Adam Thielen, 6 to Dede Westbrook and 19 to Thielen to move the Vikings (2-3) within Joseph's range in 37 seconds. They were the only two catches of the day by Thielen.

The late heroics followed a final-minute touchdown and 2-point conversion by Detroit, which fell to 0-5 on the season. Detroit took its first lead since early in the first quarter on a 7-yard touchdown run by D'Andre Swift and a 2-point pass by Jared Goff to KhaDarel Hodge.

The 20-yard scoring drive followed a play that was ruled a fumble by Alexander Mattison as the Vikings were trying to milk the clock before punting. Instead, Detroit took over with 1:56 left and quickly scored to make it 17-16.

The Vikings had led 16-6 with 4:28 to go but were unable to put away a pesky Lions squad.

Both teams' defenses delivered interceptions and sacks and generally caused problems at key moments and spots of the field.

Although the day was more gritty than "Griddy," Justin Jefferson did record his ninth career game with more than 100 receiving yards. Jefferson finished with seven catches for 124 yards.

Mattison added seven receptions for 40 yards, highlighted by a 15-yard touchdown. He rushed 25 times for 113 yards in filling in for Dalvin Cook, who had been listed as questionable but did not play.

Cousins finished 25-of-34 passing with 275 yards, one touchdown, an interception and a passer rating of 94.6. He improved to 7-0 against Detroit since joining Minnesota in 2018 and helped the Vikings extend their winning streak against the Lions to eight games, the third-longest in the series.

The touchdown pass was the 200th of Cousins' career and his 101st with Minnesota.

Minnesota built a 13-6 edge at halftime, and the teams played a scoreless third quarter.

Eric Kendricks stopped Detroit's best scoring opportunity with a one-handed interception at the Minnesota 15-yard line that he returned 22 yards.

The Vikings, however, stalled on their next possession and followed by suffering an interception to nullify their best chance of points in the third quarter.

Two plays after Alexander Mattison sprung free for a 48-yard run, a pass intended for K.J. Osborn bounced off him and into the arms of Lions linebacker Alex Anzalone at the Detroit 21.

Joseph's day included makes from 38, 38, a career-long 55, the game-winner from 54 and a miss from 49.

The game featured the return of Anthony Barr to the Vikings defense. He started for the first time since Week 2 of the 2020 season.

It also included the debut of first-round draft pick Christian Darrisaw at left tackle. He split reps with Rashod Hill.

Scoring Summary

Q1, 10:34 remaining

Lions 3, Vikings 0

Austin Seibert kicks a 39-yard field goal [10 plays, 54 yards, 4:26 time of possession]

In bunches: The Lions opened crisply with gains of 10, 8, 12 and 13 on their second, third, fifth and six plays, but the drive stalled with an incompletion, short gain and a pass broken up by Patrick Peterson.

Q1, 6:30 remaining

Lions 3, Vikings 3

Greg Joseph kicks a 38-yard field goal [10 plays, 55 yards, 4:04 time of possession]

Third-and-Jefferson: The Vikings converted their first two third downs of the game with passes to Justin Jefferson. The second-year pro caught a 37-yard pass on third-and-6 and followed with a 14-yard grab to pick up a third-and-12.

Q2, 9:50 remaining

Vikings 6, Lions 3

Joseph kicks a 38-yard field goal [11 plays, 45 yards, 6:04 time of possession]

Settling after penalty: Minnesota's second possession also included another third-down reception by Jefferson for a gain of 17, but the promising drive was derailed when tight end Chris Herndon was flagged for holding. Herndon was executing a block near the line of scrimmage on a screen pass to Adam Thielen.

Q2, 2:20 remaining

Vikings 13, Lions 3

Alexander Mattison catches a 15-yard pass from Kirk Cousins (Joseph kicks PAT) [8 plays, 88 yards, 4:16 time of possession]

Start and finish: Mattison opened the possession with a nice 11-yard run and finished with determination.

Q2, 0:41 remaining

Vikings 13, Lions 6

Seibert kicks a 52-yard field goal [9 plays, 41 yards, 1:39 time of possession]

Buckling down: After the Lions advanced to the Minnesota 42-yard line with a 21-yard pass to Quintez Cephus, the Vikings defense forced consecutive incompletions and only allowed a gain of 8 on third-and-10.

Q4, 4:28 remaining

Vikings 16, Lions 6

Joseph kicks a 55-yard field goal [10 plays, 43 yards, 5:11 time of possession]

Spreading the ball around: Four Vikings caught passes during the drive, including a 14-yard gain to C.J. Ham and an 8-yard catch by Osborn to move the Vikings within Joseph's range.

Q4, 2:30 remaining

Vikings 16, Lions 9

Seibert kicks a 40-yard field goal [6 plays, 39 yards, 0:47 time of possession]

Two big gains: The Lions got gains of 18 and 21 yards on respective passes to Amon-Ra St. Brown and D'Andre Swift to move into Seibert's range.

Q4, 0:37 remaining

Lions 17, Vikings 16

Swift runs for 7 yards (Jared Goff conversion pass to KhaDarel Hodge) [3 plays, 20 yards, 1:19 time of possession]

Points off turnover: The Lions quickly seized momentum after Jalen Reeves-Maybin forced and recovered a fumble at the Minnesota 20.

Q4, 0:00 remaining

Vikings 19, Lions 17

Joseph kicks a 54-yard field goal [5 plays, 46 yards, 0:37 time of possession]