The win was the Tigers' first over Prairie View since 2005.
The Panthers led at intermission, 34-29, and padded it as the second half progressed - leading by as many as 11.
The Tigers battled back, pulling even at 55-55 with 5:06 remaining.
Prairie View grabbed a one-point lead with 17.9 seconds left only to see it slip away on Hearns' field goal. Nigel Ribeiro converted two free throws to set the final margin.