The Steelers took the lead in the first quarter as Ben Roethlisberger edged his side into field-goal range under duress from the pass rush of the Ravens, and Shaun Suisham was on hand to fire a 45-yarder through the posts.
Baltimore hit back with an impressive drive as Joe Flacco moved the ball well in the air, while Justin Forsett churned up yards in the ground game before the quarterback handed off for Bernard Pierce to score a five-yard touchdown.
Pittsburgh drove into the red zone as Roethlisberger made another series of good throws under pressure, but he was sacked by Brandon Williams, which forced Suisham into action with a 22-yard field goal.
Flacco was able to get into rhythm again while the visitors were aided with penalties committed by Pittsburgh's defense, but William Gay made a huge play to deflect a pass away from Marlon Brown and save a touchdown.
Justin Tucker kicked his first field goal of the game from 28 yards to hand Baltimore a four-point lead, but the Steelers pulled it back to 10-9 when Suisham fired a 47-yarder at the end of the half.