MINNEAPOLIS — The Lions drove 87 yards on the opening possession of overtime and scored on a 28-yard pass from Matthew Stafford to Golden Tate to claim a 22-16 victory over the Vikings on Sunday at U.S. Bank Stadium.

Detroit was able to force overtime with a 58-yard field goal by Matt Prater as regulation ended and undo a thrilling comeback drive by the Vikings in the fourth quarter.

The Lions converted four third downs on the final drive of the day, including three that were third-and-8 or longer.

Xavier Rhodes was flagged for pass interference on a third-and-10 incompletion. Three plays later, Stafford converted third-and-8 with a pass to Tate, who eluded a diving tackle attempt by Rhodes and broke free from Harrison Smith.

Minnesota had taken a 16-13 lead with 23 seconds remaining on a clever 1-yard run by tight end Rhett Ellison with defensive tackle Linval Joseph in at fullback. Ellison's run on an end around capped a 79-yard drive that included gains of 29 and 17 on consecutive throws from Sam Bradford to Adam Thielen.

Stafford finished 23-of-36 passing for 219 yards with two touchdowns and an interception for a rating of 87.6 as the Lions improved to 5-4. Tate totaled 11 receptions for 79 yards, and Eric Ebron caught seven passes for 92 yards.

Bradford finished 31-of-40 passing for 273 yards with a touchdown pass and no interceptions for a rating of 103.4.

Stefon Diggs led the Vikings with a career-high 13 receptions for 80 yards. Thielen caught four passes for 68 yards, and Cordarrelle Patterson added six catches for 45 yards.

It was the first Vikings overtime game since Minnesota defeated the St. Louis Rams 21-18 on Nov. 8, 2015. Minnesota fell to 5-3 and 1-2 in the NFC North.

The Vikings scored their first touchdown of the game on a 1-yard pass from Bradford to Kyle Rudolph. Minnesota brought Joseph into the game as a fullback, and Rudolph slipped through the line of scrimmage and was wide open. The short catch capped a 78-yard drive, but was followed by a missed extra point kick by Blair Walsh that hit the right upright.

Walsh also had a 46-yard field goal attempt blocked by Tyrunn Walker that Glover Quin returned 32 yards to the Minnesota 42-yard line. Detroit was able to create a six-point swing by gaining eight yards and setting up a 52-yard field goal by Prater for a 13-9 lead with 12:33 left in the game.

The Lions took a 10-3 lead into halftime after methodically marching 84 yards on 17 plays and consuming 9:45 of the second quarter. Stafford completed a 1-yard pass to Anquan Boldin with five seconds left before intermission.

The drive was extended by a hands-to-face penalty against Rhodes that awarded the Lions a first down at the Detroit 49. The Vikings had limited Boldin to a gain of 8 on a third-and-10 play.

Minnesota squandered a golden opportunity early in the second quarter after Chad Greenway returned an interception of Stafford 17 yards to the Detroit 18. The Vikings, however, suffered a false start penalty on second-and-6, an illegal block penalty on second-and-11, a loss of 4 on a run by Ronnie Hillman on second-and-19 and a sack of Bradford by Kerry Hyder on third-and-23 that moved the Vikings out of field goal range.

Detroit took the ball at its own 16 and didn't give it back until scoring a touchdown with five seconds left in the first half.

The Vikings tied the game at 3 early in the second quarter with a 33-yard field goal by Blair Walsh. The field goal capped a 12-play, 60-yard drive that lasted 4:35.

The possession was extended by the first career catch for Vikings rookie Laquon Treadwell, who gained 15 on third-and-10. The Vikings, however, lost 3 on a run by Jerick McKinnon on the first play of the second quarter and were unable to gather another first down.

Detroit scored the only points of the first quarter, via a 47-yard field goal by Prater. The drive benefitted from a 42-yard run by Theo Riddick on third-and-7.