The victory was just the fourth for the Big Green (7-18, 3-8) in its last 54 visits to the Palestra.
Two free throws by Mitola broke a 61-61 tie with 1:02 remaining, and his three-point play at the 22-second mark gave Dartmouth a 66-61 lead.
The Big Green led 48-36 after a jumper by Boehm with 15:17 left, but the Quakers (7-20, 4-6) got back into the game with a 10-1 run that included two 3-pointers by Dau Jok. They eventually pulled ahead 57-55 on a jumper by Miles Cartwright with 4:48 to play.
Tony Hicks scored 23 points to pace Penn and Jok added 14 on 4-of-4 shooting, all from 3-point range, plus two free throws.
After a season that saw his shooting numbers slip, should Nigel Hayes return for his senior year at Wisconsin or take the gamble to put him name in this year's NBA draft?
Isaiah Taylor talks about his decision to declare for the NBA draft and what he will miss most about Texas.
Chattanooga women's basketball coach Jim Foster has received a one-year contract extension, the same day the school gave the men's coach a two-year extension.