The Ravens got on the scoreboard with five seconds left in the first half as Tucker kicked a 46-yard field goal, cutting Pittsburgh's lead to 7-3.
The Steelers had taken their first 7-0 lead of the season with 5:24 remaining in the first quarter when Roethlisberger -- 10 of 13 passing for 99 yards in the first half -- tossed a 3-yard shovel pass to Miller for his 40th career touchdown catch.
The 10-play, 60-yard drive also featured a direct snap to Bell from the wildcat formation.
"It came down to those last few seconds. We ran out of time," Baltimore offensive tackle Kelechi Osemeie said.
NOTES: Steelers OT Marcus Gilbert (right quad) was injured in the first quarter and did not return. He was replaced by Guy Whimper. ... LB Jason Worilds started for Steelers rookie Jarvis Jones (concussion), who was not cleared to play by team doctors. TE Richard Gordon (toe) and WR Markus Wheaton (finger) also were inactive, along with QB Landry Jones, CB Curtis Brown, RB Isaac Redman and DT Hebron Fangupo. ... The Ravens activated veteran LB Jameel McClain from the reserve-physically unable to perform list and cut TE Billy Bajema. McClain started in place of ILB Josh Bynes (infected finger), who was inactive, along with NT Terrence Cody (knee), WR Brandon Stokley (groin), G Jah Reid, C Ryan Jensen, OT Bryant McKinnie and DT DeAngelo Tyson. ... Ravens starting C Gino Gradkowski (24) is the younger brother of Steelers backup QB Bruce Gradkowski (30). Both were born in Pittsburgh and attended Seton-LaSalle High School. ... Pittsburgh plays at Oakland next Sunday and Baltimore has a bye week.