The Pioneers (9-7, 1-2 Summit) led 69-60 after two Marcus Byrd free throws with just 1:17 remaining. But Aaron Young rallied the Golden Eagles (8-9, 0-3), scoring six of the games next eight points, including a 4-point play, to cut the lead to five (71-66).
Rosga hit two free throws to extend Denver's advantage back to seven, but three Oral Roberts 3-pointers in the final 30 seconds cut the Pioneers lead to 76-75 with four seconds left. Jake Pemberton made a layup for Denver which made it 78-75 and Aaron Anderson missed a 3 at the buzzer to seal the game.
Nate Engesser added 13 points for Denver.
Young had a career-high 29, including eight 3's, for Oral Roberts.