Tucker made six field goals in all, with his final long-range blast providing the winning margin with just 38 seconds remaining.
Matthew Stafford had put the Lions ahead 16-15, on a 14-yard touchdown pass to Joseph Fauria, about two minutes earlier but the lead did not hold up.
Baltimore quarterback Joe Flacco completed a clutch 27-yard pass to Jacoby Jones to drive his team back down field and set up the winning boot.
The Ravens' (8-6) fourth straight win ties them with Miami (8-6) for the sixth and final playoff spot in the AFC. Baltimore own the tiebreaker over the Dolphins.
The sinking Lions (7-7) fell a game behind Chicago for first place in the NFC North after their fourth loss in five games.