The Raiders took over with the game tied at their 25 with 1:42 remaining. Palmer got the drive going with a 24-yard pass to Brandon Myers on third-and-10 and then hit Derek Hagan on a 17-yard pass down to the Pittsburgh 26 with 27 seconds left.
Oakland then ran down the clock to set up Janikowski's winning kick that send the crowd into delirium less than an hour after silence overtook the stadium when Heyward-Bey was injured.
Mundy's helmet hit Heyward-Bey in the facemask on an incomplete pass in the end zone. Heyward-Bey's neck jerked violently and his head also crashed into the ground. Players from both teams kneeled in prayer as Heyward-Bey was attended to for about 10 minutes. He managed to raise his right hand while being taken off the field on a cart to go to the hospital with a neck injury.
Four plays later, Carson Palmer eluded pressure and found Denarius Moore on a 6-yard touchdown pass that brought Oakland within 31-28 early in the fourth quarter.
Raiders cornerback Pat Lee then forced a fumble downfield by Pittsburgh receiver Antonio Brown that Philip Wheeler recovered at the Oakland 36. Palmer then drove the Raiders down the field and they tied the game on a 32-yard field goal by Sebastian Janikowski with 6:30 to play.
With the Steelers missing Pro Bowl defensive stalwarts Troy Polamalu (calf) and James Harrison (knee), the Raiders were able to move the ball effectively most of the game.
Darren McFadden ran for 113 yards, including a 64-yard TD burst in the first quarter that surpassed his rushing total from the first two games of the season combined.
Palmer overcame an interception on the first play of the game to go 23 for 33 for 209 yards and three touchdowns, including a 3-yarder to Heyward-Bey late in the first half.
But Roethlisberger was even better, throwing two TD passes to Heath Miller in the first quarter, as well as third-quarter scores to Mike Wallace and Brown. Roethlisberger finished 36 for 49 for 384 yards as Oakland failed to generate any sustained pass rush.
But he failed to convert a third-and-9 under pressure following the two-minute warning to give Oakland the chance at the winning score.
Each team converted a turnover into a touchdown in the opening half with the Steelers taking a 17-14 lead at the break after Roethlisberger 64 yards in the final 1:54 without a timeout to set up Shaun Suisham's 33-yard field goal on the final play.
The half started well for the Steelers as well when Palmer was intercepted by Ryan Clark on the first play from scrimmage after Moore slipped on the infield dirt while making his cut.
Roethlisberger converted one fourth down before throwing his first of two 4-yard TD passes to Miller in the opening quarter. In between those scores, McFadden scored on the longest run against the Steelers since 2006.
Oakland tied the game again late in the half after Joselio Hanson recovered a fumble by Jonathan Dwyer at the Pittsburgh 30. The Raiders then drew Ziggy Hood offside with a rapid shift on fourth down and Palmer found Heyward-Bey on the next play.
Pittsburgh 14 3 14 0 31
Oakland 7 7 7 13 34
Pit • Miller 4 pass from Roethlisberger (Suisham kick), 11:33.
Oak • McFadden 64 run (Janikowski kick), 10:33.
Pit • Miller 4 pass from Roethlisberger (Suisham kick), 3:49.
Oak • Heyward-Bey 3 pass from Palmer (Janikowski kick), 1:54.
Pit • FG Suisham 33, :00.
Pit • Wallace 22 pass from Roethlisberger (Suisham kick), 11:40.
Oak • Gordon 1 pass from Palmer (Janikowski kick), 6:35.
Pit • A.Brown 11 pass from Roethlisberger (Suisham kick), 1:31.
Oak • Moore 6 pass from Palmer (Janikowski kick), 12:13.
Oak • FG Janikowski 32, 6:30.
Oak • FG Janikowski 43, :00.
Attendance • 62,373.
First downs 24 21
Total Net Yards 433 321
Rushes-yards 20-54 21-119
Passing 379 202
Punt Returns 2-22 1-5
Kickoff Returns 2-44 2-87
Interceptions Ret. 1-26 0-0
Comp-Att-Int 36-49-0 24-34-1
Sacked-Yards Lost 1-5 1-7
Punts 3-36.0 3-51.7
Fumbles-Lost 4-2 0-0
Penalties-yards 10-81 3-25
Time of Possession 36:15 23:45
Rushing • Pittsburgh, Redman 9-27, B.Batch 4-12, Roethlisberger 1-8, Rainey 2-7, Wallace 1-1, Dwyer 3-(minus 1). Oakland, McFadden 18-113, Palmer 2-5, Goodson 1-1.
Passing • Pittsburgh, Roethlisberger 36-49-0-384. Oakland, Palmer 24-34-1-209.
Receiving • Pittsburgh, Wallace 8-123, Miller 8-60, A.Brown 7-87, Sanders 3-33, Redman 3-24, Rainey 2-23, B.Batch 2-20, Cotchery 1-9, W.Johnson 1-4, Dwyer 1-1. Oakland, Moore 5-45, Myers 4-55, Reece 4-27, Hagan 3-30, Streater 2-22, Heyward-Bey 2-14, McFadden 2-2, Ausberry 1-13, Gordon 1-1.
Missed Field Goals • None.