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.
Texas Tech has 665 yards of total offense in its 48-45 victory over Texas.
DeAndre Washington ran for 173 yards and two touchdowns and Texas Tech overcame a breakout performance from Texas freshman tailback Chris Warren III as the Red Raiders beat the Longhorns 48-45 Th
Texas Tech outlasts Texas in a wild Thanksgiving game that included a fake kneel down for a touchdown.
The Red Raiders lined up like they would kneel the ball and run out the clock against Texas. Instead, Jakeem Grant surprised everyone, scoring from 40 yards out.
Quinton Flowers passed for three touchdowns and ran for two more as South Florida routed Central Florida 44-3 Saturday night.
South Florida defeats UCF 44-3 to drop the Golden Knights to 0-12 on the season.