DETROIT -- Matthew Stafford connected with Anquan Boldin on an 18-yard touchdown pass with 16 seconds left lifting the Detroit Lions to a 20-17 win over the Washington Redskins on Sunday at Ford Field. Stafford making his 100th career start engineered a six-play 75-yard drive after Redskins quarterback Kirk Cousins scored on a 19-yard run with 1:05 remaining.

Stafford completed 18 of 29 passes for 266 yards as Detroit (4-3) won its third straight all at home. Lions wide receiver Golden Tate caught six passes for 93 yards and Zach Zenner scored his first career touchdown on a 1-yard run.

The Redskins (4-3) saw their four-game winning streak snapped. Cousins faked a handoff to Chris Thompson and cut to the right side for the go-ahead score completing a 76-yard drive. But that wasn't enough as Stafford sparked the Lions' fourth fourth-quarter comeback this season. Cousins the former Michigan State quarterback playing in his home state for the first time completed 30 of 39 passes for 301 yards and a touchdown.

Thompson gained 73 yards on 12 carries and caught six passes for 40 yards. Jamison Crowder caught seven passes for 108 yards and Robert Kelley scored his first career touchdown on a 1-yard pass reception for Washington. Each team's star cornerbacks left the game early. The Lions' Darius Slay suffered a hamstring injury in the first half and the Redskins' Josh Norman departed in the third quarter with a concussion.

Detroit took the lead shortly after Norman's injury. Stafford hooked up with Marvin Jones Jr. on a 52-yard bomb despite Norman committing pass interference before Jones' diving catch. Norman banged the side of his head on the turf on the play and headed to the locker room after being evaluated on the field. Zenner's 1-yard run with 7:20 left in the quarter finished off the drive and put Detroit on top 10-3.

Washington lost its second fumble of the game on its next possession when Cousins fell down while attempting a handoff to Matt Jones in Detroit territory. Matt Prater extended Detroit's lead with 13:10 remaining on a 27-yard field goal. The Redskins pulled within 13-10 on Cousins' 1-yard pass to Robert Kelley with 8:20. That score was set up by a 27-yard pass to tight end Vernon Davis. The first half was rife with missed opportunities and ended with the clubs tied at 3. Prater missed a 49-yard field goal attempt during the first quarter.

The Redskins then drove down the field but Jones fighting for extra yardage had the ball knocked loose by defensive end Brandon Copeland at the 2 and safety Tavon Wilson recovered in the end zone. Prater connected on his second attempt from 43 yards out to break the deadlock with 9:37 left in the half. Dustin Hopkins' 45-yard field goal try five minutes later bounced off the left upright. Hopkins got another chance on the final play of the half and ripped a 38-yarder through the middle to tie it.