Matt Hasselbeck threw a 5-yard touchdown pass to Kenny Britt with 4:19 left to tie it at 23, and the Titans (2-4) snapped a three-game losing streak against the Steelers.
Pittsburgh (2-3) lost its third straight road game this season and for the fifth time in six games dating to last season despite Ben Roethlisberger throwing for 363 yards and becoming the Steelers' career passing leader.
Roethlisberger drove the Steelers into position to take the lead after the Titans tied it. Shaun Suisham, who already had connected from 29, 28 and 52 yards, had his 54-yard attempt fall short of the crossbar with 49 seconds left.
Chris Johnson ran for 91 yards on 19 carries, and Hasselbeck finished with 290 yards passing.