Martin's score capped a rally in which the Leopards (4-6, 2-3 Patriot) went from trailing 16-0 late in the third quarter to scoring 19 straight points to edge the Raiders (4-6, 2-2). He missed an earlier fourth-quarter attempt from 36-yards.
Blake Searfoss threw for 261 yards and two touchdowns for the Leopards.
Colgate's Jonah Bowman kept the Raiders on top early with 3-of-3 field goal kicking, helping Colgate to a 16-0 lead midway through the third.
Searfoss' first TD was on a 13-yard pass to Mike Duncan with 6:18 left in the third quarter. A successful 2-point conversion made it 16-8. With 30 seconds left in the third, Searfoss struck again, this time finding Brian Keller for a 14-yard score. Another 2-pointer tied it up, 16-16.