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.
South Carolina AD Ray Tanner is not "100 percent sure" Saturday's game vs. No. 7 LSU will be played at Williams-Brice Stadium because of devastating floods that hit the state.
UCLA junior linebacker Myles Jack has withdrawn from school and will enter the NFL draft, making the decision just weeks after suffering a season-ending knee injury.
A judge has dismissed simple assault charges against Rutgers wide receiver Leonte Carroo after the woman he allegedly attacked after a football game said she didn't want to testify.
Auburn senior receiver D'haquille Williams has been dismissed from the team.
Colorado coach Mike MacIntyre said he was sorry for getting into a sideline altercation with an assistant coach during a 41-24 loss to Oregon over the weekend.
Alabama coach Nick Saban took exception with the media's outlook on his team prior to Saturday's win at Georgia, lashing out at those who "buried" the Crimson Tide.