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.
Steve Spurrier, the visor-slinging, slick-talking "Head Ball Coach" who is the second-winningest coach in Southeastern Conference history, announced his resignation on Tuesday.
USC athletic director Pat Haden spoke Tuesday about the decision to fire head coach Steve Sarkisian, calling it "very difficult," while also defending his handling of the situation.
Steve Sarkisian has been plagued of late by apparent substance-related circumstances, including arriving to team facilities appearing intoxicated Sunday, according to sources.
Florida Gators quarterback Will Grier has been suspended for the year after testing positive for a performance-enhancing substance found in a supplement, coach Jim McElwain announced Monday.
A former Texas A&M football recruit randomly attacked a jogger, using a "large-bladed knife" to repeatedly strike the man and lodging the weapon in his head, according to police documents.
Tennessee defensive tackle Shy Tuttle will miss the rest of the season with a broken fibula and torn ankle ligament.