The visitors outscored the home team 17-3 in the second period to take a 20-10 lead at the break.
A Paul Edinger field goal got the Bears within a touchdown heading into the fourth quarter.
The Vikings could only manage three points in the second half on a Doug Brien field goal setting up a last minute comeback by the Bears.
Trailing 23-13 with just over nine minutes left in the game Jim Miller put together two scoring drives to secure a victory.
Miller continued to look for Booker and they two hooked up for a 54-yard reception. Then Anthony Thomas took over touching the ball on five consecutive plays and capped a five-play 78-yard drive with a one-yard TD run, which cut the lead to 23-20 with 6:13 remaining.
The Vikings then took the ball and moved into Bears territory, but Mike Brown stepped in front of a Daunte Culpepper pass and returned it 16 yards giving the offense the ball near midfield with less than three minutes left.
The offense moved down the field gaining yards and draining the clock. Following two third down conversions Miller took the team's final timeout with 35 seconds left. Coming out of the break Miller scrambled around and found David Terrell open in the endzone. The receiver made a leaping catch with just 28 seconds on the clock and gave the Bears a 27-23 win.
The duo didn't return to action until Week 5 against Green Bay.