Derek Carr threw for 289 yards and two touchdowns, and Josh Jacobs rushed for 120 yards and two scores as the Oakland Raiders held off the visiting Detroit Lions 31-24 on Sunday.

Raiders safety Karl Joseph broke up Matthew Stafford's pass to tight end Logan Thomas in the end zone on fourth-and-goal with two seconds remaining. That stopped a 76-yard drive that had the Lions at the Oakland 1.

Hunter Renfrow had six receptions for 54 yards, including the 9-yard go-ahead score with 2:04 to play to cap a 75-yard drive, for Oakland (4-4).

Stafford threw for 406 yards and three scores for the Lions (3-4-1). Kenny Golladay caught four passes for 132 yards and a touchdown, while Marvin Jones hauled in eight passes for 126 yards and a touchdown.

Matt Prater's 23-yard field goal for Detroit with 4:45 left in the third quarter tied the game at 17 apiece.

Carr found backup tight end Foster Moreau for a 3-yard scoring pass in the opening seconds of the fourth quarter to give Oakland the lead.

With 5:16 remaining, Stafford connected with running back J.D. McKissic on a 26-yard touchdown pass as the Lions forged a 24-all tie, before the Raiders' game-winning drive.

The Raiders led 17-14 at halftime.

Following a Lions fumble, the Raiders relied on their running game to strike first. Jacobs finished it off with a 2-yard run.

Detroit gambled on fourth-and-goal from the 2 on its next possession and got rewarded as Stafford hit Jones with a scoring pass.

Daniel Carlson gave Oakland the lead back early in the second quarter on a 32-yard field goal.

Detroit regained the lead with 11:21 left in the half when Stafford connected with Golladay on a 59-yard pass. Golladay caught the ball at the Oakland 25 near the sideline and weaved his way into the end zone.

Stafford was intercepted by Daryl Worley on a one-handed grab in the end zone, and Oakland then drove down the field for the go-ahead score, a 3-yard run by Jacobs with 1:12 left in the half.

--Field Level Media