Lafayette trailed 10-7 before Andrew Shoop's 10-yard touchdown pass to Ross gave Lafayette its first lead of the game, 14-10, with 3:58 left in the third quarter.
Ross tallied eight receptions for 105 yards. Shoop, who posted 243 yards and two touchdowns on 20 of 33 passing, moved into eighth place all-time for career passing yards and passing touchdowns at Lafayette.
Yale (1-4) attempted to rally, but after the Bulldogs turned the ball over on downs, Scheuerman capped off a 7-play, 78-yard Lafayette drive with a 2-yard touchdown run.
The Leopards, who picked off Yale's Eric Williams four times, have intercepted 15 through six games.
Tyler Varga led Yale with 100 yards rushing.
Lafayette improved to 4-2, equaling its win total from 2011.
Mississippi's football program has been cited for 13 of the 28 NCAA rules infractions included in the notice of allegations that the Rebels received in January.
ESPN Big Ten reporter Brian Bennett discusses why the SEC is upset about Michigan's spring break trip and what the NCAA might do about it.
Stanford and Notre Dame split their last two meetings in dramatic contests, and their 2016 matchup will be highly anticipated.
A lawsuit alleges that the University of Tennessee has violated Title IX policies and created a "hostile sexual environment" through indifference toward sexual assaults by student-athletes.
Ian O'Connor, senior writer at ESPN.com, joins The Paul Finebaum Show to discuss Roger Goodell's response to safety concerns in the NFL.
Stanford defensive line coach Randy Hart is retiring after 46 years as a college coach.