Cam Newton threw for 137 yards and a touchdown and ran for 75 yards as the Panthers (9-4) racked up 216 yards on the ground against the league's No. 2 ranked defense to pull even with the Saints atop the NFC South standings.
Carolina sacked Case Keenum six times and forced three turnovers to keep the Vikings (10-3) from clinching the NFC North division title.
After the Panthers squandered an 11-point fourth quarter lead, Newton broke free of the pocket and raced 62 yards for a key first down with 2 minutes remaining. Stewart scored his career-high third TD when he jumped over the line of scrimmage, reaching the ball across the goal line for a 31-24 lead.
Minnesota couldn't manage a first down on its final drive and turned the ball over on downs.
The Panthers seemed in control midway through the fourth quarter leading 24-13 after Newton made an off-balance throw to Devin Funchess for an 18-yard touchdown, and Mario Addison's strip-sack set up Graham Gano's field goal.
But the Vikings came charging back to tie it as Keenum hooked up on a 52-yard scoring strike on a crossing route. Blake Bell added 2-point conversion catch to cut the lead to three.
On Carolina's next possession, Vikings safety Andrew Sendejo intercepted Newton on a ball that sailed off the hands of Christian McCaffrey and returned it to the Carolina 6. But Carolina's defense had a huge stop, holding the Vikings to a field goal leaving the game tied with 3:07 left.
Vikings: Linebacker Emmanuel Lamur left game with a foot injury and did not return.
Panthers: Tight end Greg Olsen left briefly after re-injuring his foot, but did return.
Vikings: Host the Bengals next Sunday.
Panthers: Host the Packers next Sunday.
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With Alan Branch's apparent knee injury on Monday night, the Patrios signed DT Ricky Jean Francois; WR Kenny Britt took part in his first practice.
Falcons owner Arthur Blank explains that Roger Goodell's new contract was decided based on his performance and Jerry Jones had no effect on the extension.
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Matthew Berry gets a galactic threat from Stormtroopers.
Packers coach Mike McCarthy addresses the media ahead of Aaron Rodgers' first chance to work with the No. 1 offense since being cleared.