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The Chiefs went ahead on their first possession when they managed to move down the field and into the redzone before the visitors' defense made a stand to limit them to a field goal from Santos from 30 yards.
Pittsburgh hit back with a score of their own when Landry Jones and Le'Veon Bell moved the offense into range of the goalline, but they were forced into a field goal from the boot of Chris Boswell from 24 yards.
Andy Reid's men restored their advantage when Santos notched his second field of the match, but only after his side were denied in the redzone for the second time by the Steelers' defense.
The Chiefs added another field goal through the boot of Santos, although they could have extended their lead further but the kicker missed an effort before the break.