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.
Ohio State quarterback Cardale Jones is "doing fine" after he was released from the hospital Wednesday night after being treated for symptoms related to a migraine headache.
Five Rutgers players were suspended Thursday after home-invasion and assault charges, another jolt to a program whose coach is embroiled in an ongoing academics-related probe.
The Florida Gators will start Treon Harris at quarterback in Saturday's opener vs. New Mexico State over redshirt freshman Will Grier, coach Jim McElwain said Tuesday.
Baylor University has hired a Philadelphia law firm to independently investigate the university's handling of sexual assault complaints, including one against defensive end Sam Ukwuachu.