Maine (2-4) scored first on a Nigel Beckford 1-yard run and held a 7-3 lead at the break and a 10-9 lead after three quarters. Yale grabbed the lead for good with 8:22 left in the game on a 17-yard TD run by Salter. Roberts added a 26-yard scoring run to put the game away.
Beckford ran for 78 yards and a touchdown for Maine.
The game was the first meeting between the two schools since 1937.