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.
Coach Nick Saban addressed his team's needs on the offensive line and at linebacker, but he said he's still looking to add depth at running back.
Several early enrollee recruits in the ACC have a chance to get some experience this spring and make a significant impact in the fall.
Oklahoma State had a signature win over TCU in 2015, and could have a chance at another at Baylor in 2016.
SEC powers and a few surprises make top junior's favorites.
The Eagles had needs all across the roster following a 3-9 season. Some help and experience arrives at quarterback.
The return of healthy WR Mikey Dudek might just be one of the most important additions in the league as Illinois tries to get back to a bowl.