The Broncos went ahead inside three minutes of the first quarter with Trindon Holliday returning a punt an incredible 90 yards for a touchdown.
Inside a minute Ravens went ahead when Erik Decker fumbled a Peyton Manning pass and Corey Graham returned it 39 yards for a TD.
Before the end of the first, however, the Broncos brought it back to 14-14, with a superb pass from Manning finding Brandon Stokley in the endzone.
It took half of the second quarter for another score and it was Knowshon Moreno who found space for Manning's pass to put the Broncos back in front.
Matt Prater missed a long field goal attempt at the end of the half, before Torrey Smith caught from Flacco for a 32-yard TD to level matters once more.
Holliday took the kick at the start of the third and ran the length of the field for an incredible second score for him and Broncos were ahead 28-21.
Right at the end of the third, Ray Rice bustled over the line to bring the scores level again.
Just as it looked to be heading to a Broncos win their defence disintegrated and Jones was found by Manning to run a 70-yard TD inside the final minute to take it to overtime.
In a nervy overtime period there was no score and it took until the second period for the winning field goal which was just put over by Justin Tucker from 47 yards.