Ravens 23, Browns 21: Justin Tucker kicked a 32-yard field goal as time expired to lift visiting Baltimore past Cleveland.

Joe Flacco connected with Steve Smith on a 32-yard pass play to the Browns 13 and the Ravens (2-1) ran down the clock to set up Tucker’s third successful field goal of the contest. Flacco was 19-of-31 for 217 yards and a touchdown, Smith caught five passes for 101 yards and rookie Lorenzo Taliaferro rushed for 91 yards and a score.

Brian Hoyer was 19-of-25 for 290 yards and a touchdown for Cleveland (1-2), which has lost 12 of the last 13 meetings with Baltimore. Rookies Isaiah Crowell and Terrance West added rushing TDs for the Browns.

Cleveland took the second-half kickoff and went 80 yards on nine plays, with Crowell scoring from 14 yards out for a 14-10 advantage, but the Ravens answered with an eight-play, 80-yard drive and regained the lead on Taliaferro’s 1-yard run. Hoyer directed a 10-play, 80-yard drive and capped it with his 4-yard scoring pass to Miles Austin with 13 seconds remaining n the third quarter to give the Browns a 21-17 lead before Tucker kicked a 21-yard field goal with five minutes left.

Tucker booted a 38-yarder to give Baltimore the early lead before Cleveland went ahead on West’s 1-yard run with 3:15 remaining in the first quarter. The Ravens took a 10-7 lead midway through the second, when Flacco connected on a 9-yard scoring pass with fullback Kyle Juszczyk.

GAME NOTEBOOK: Browns WR Andrew Hawkins, who had seven receptions for 87 yards, has made 21 catches in three games. … Baltimore TE Dennis Pitta (hip) was taken to a hospital for further examination. … Cleveland K Billy Cundiff went 0-for-2 on field-goal attempts.