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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Jerry Jones, as Randy Gregory went through team drills for the first time, said the defensive end should be ready for the Cowboys' Sept. 9 opener against the Panthers.
Jets rookie quarterback got the majority of reps for the first time on Sunday, an indication he might start Thursday night against the Redskins at FedEx Field.
The Jacksonville Jaguars have given one-week suspensions to cornerback Jalen Ramsey and defensive end Dante Fowler.
Ben Roethlisberger liked what he saw from rookie quarterback Mason Rudolph in his Steelers debut. "The moment wasn't too big for him," Roethlisberger said.
Upset by what he considered a cheap shot on a teammate during a joint practice Sunday, Washington's Trent Williams shoved a Jets player and a melee ensued. "We reacted how we reacted," Williams said.
Receiver Antonio Callaway's punishment for his traffic stop last week was to play most of Thursday's preseason game against the Giants, Browns coach Hue Jackson said Sunday.