Obi Emegano's jumper with 6:59 left gave Oral Roberts its largest lead 65-53 before the Pioneers went on their scoring spree, overtaking the Golden Eagles on Engesser's layup with 2:58 remaining for a 67-66 lead.
Marcus Byrd added 11 points for the Pioneers (9-10, 3-3 Summit League), who won despite having starter Cam Griffin, who averages 12.3 points per game, suspended for the game for violation of team standards.
Oral Roberts outshot Denver 61 percent to 52.3, but the Pioneers made 9 of their 17 3-point shots to the Eagles' 6 of 14. Denver also made eight more free throws.
The loss snapped a four-game winning streak for Oral Roberts (10-9, 4-2).