The Scarlet Knights trailed by 17 points in the first half, didn't lead until less than six minutes remained and survived horrid shooting performances from its top two scorers.
The victory snapped a 17-game road losing streak, including 15 straight road losses in Big East play. Rutgers held a 43-25 advantage on the boards, and grabbed 18 offensive rebounds.
Ndiaye made all six of his shots from the field and finished with 15 points and 13 rebounds before fouling out in the final minute. His replacement, freshman Austin Johnson, made a pair of free throws with 6.2 seconds remaining to secure the win.
Rutgers (14-12, 4-9 Big East) has won five of its last six games, and has won back-to-back conference games twice in a season for the first time since 2001-02. Last-place DePaul (8-17, 1-12) was led by center Mac Koshwal's 24 points, 12 rebounds and eight steals.
Will Walker added 19 points, but the rest of the Blue Demons were 10 of 25 from the field and scored 21 points.
For a while, it looked like Rutgers' 71-68 upset of No. 7 Georgetown on Sunday would be nothing but an aberration.
After committing eight turnovers against the Hoyas, Rutgers had 10 in the first 15 minutes against the Blue Demons, who built a 31-14 lead with 5:11 remaining in the first half when Walker scored on a lay-in.
DePaul stretched its lead to 42-29 with 17:43 remaining on a Walker free throw before Rutgers, which switched to a 2-3 zone defensively, began its game-changing rally.
Miller started a 12-0 run with a dunk, and James Beatty's 3-pointer with 13:40 remaining pulled the Scarlet Knights within 42-41.
A 3-pointer by Rosario with 5:43 left gave Rutgers its first lead, 58-57. Another 3-pointer by Rosario with 3:23 left put Rutgers ahead for good, 63-60, but not without some hairy moments. Coburn, who committed six turnovers, lost the ball twice in a 50-second span in the last two minutes.
A pair of free throws from Rosario with 14 seconds left gave Rutgers a 66-62 lead, and Johnson cemented the win seven seconds later with two free throws.