Omar Osbourne capped an 11-play, 71-yard drove by punching in from the 1 with 50 seconds left to tie the score at 28-28.
Vad Lee got the ball at the James Madison 35 and engineered an 8-play, 48-yard drive in the final minute, getting the ball to the Albany 17, where Maglio kicked the game-winner.
Lee was 14 of 23 for 177 yards and two touchdowns. He added another 111 yards on 17 carries, including a 57-yard dash in the first quarter lead the Dukes (3-3, 1-2 Colonial).
Will Fiacchi threw for 278 yards on 17-for-32 passing to lead the Great Danes (4-1, 1-1). Osbourne carried 29 times for 129 yards and two touchdowns.