That came a few plays after Ravens kicker Matt Stover, usually one of the most consistent kickers in the league, hooked a 44-yard field goal attempt.
It was the second time the Dolphins had escaped a loss.
The other came at the end of regulation when Baltimore head coach Brian Billick decided to have Stover kick an 18-yard field goal on fourth down instead of going for the touchdown from the 1-yard -- a rather strange decision give Baltimore's 4-9 record.
Of course, maybe Baltimore never should have been in possession to win the game, but after kicking a 29-yard field goal to give the Dolphins a 16-13 lead right after the two-minute warning, Jay Feely put the ensuing kickoff out of bounds to give Baltimore the ball at the 40-yard line.
Feely's field goal capped the Dolphins' rally from a 13-3 halftime deficit.
The Dolphins made it 13-10 on a 7-yard touchdown run by Samkon Gado and tied the game on a 22-yard field goal by Feely.
The Dolphins were able to move the ball in the second half thanks largely to the passing of Lemon, who finished with 315 yards.
None of his completions, however, were bigger than the one to Camarillo, which will end all that talk of a winless season.