Chievo were only offering brief moments in the final third and Palmero could have found a way to capitalise as they maintained their early pressure by creating openings for Belotti and Edgar Barreto, both of which went wide.
As the first half drew to a close, the away side offered more in attack, with a low drive from Valter Birsa forcing Stefano Sorrentino into action low to his right.
Chievo had more joy in attacking areas at the start of the second half as Riccardo Meggiorini drew a save out of Sorrentino before Belotti headed wide from close range for Palermo.
That helped the home side get on top with Barreto having a header saved by Bardi before, moments later, Paulo Dybala rattled the crossbar with a left-footed strike from distance.
The game appeared to be heading for a goalless draw until the Rosenaro netted the goal that their play deserved to help them up the standings.
Rigoni picked up the ball on the edge of the penalty area before powering it past Bardi to condemn Chievo to their sixth defeat in seven league matches.