Yale had a 21-0 lead midway through the second quarter.
Dartmouth (4-0, 2-0 Ivy League) opened the second-half scoring with a 30-yard touchdown from Heneghan to Hunnicutt, pulling to 24-14. Heneghan's 40-yard connection with Dylan Mellor made it 27-21 with 6:10 remaining in the game.
David Smith's extra point with 34 seconds left gave Dartmouth its first lead. Yale started its final drive at the 20 with 31 seconds to go but the game ended on a holding call near midfield.
Kurt Rawlings had touchdown passes to Christopher Williams-Lopez, Melvin Rouse II, and Zane Dudek as Yale (3-1, 1-1) build 21-point lead. But his pick-6 that Isiah Swann returned 47 yards pulled Dartmouth to 21-7 late in the second quarter. Yale closed the half with a short field goal at the buzzer after a 10-play, 67-yard drive.
Heneghan threw for 314 yards with one interception. Rawlings was 24 of 39 for 283 yards and two picks.
More AP college football: http://collegefootball.ap.org and http://www.twitter.com/AP-Top25
WR La'Michael Pettway joins Arkansas exodus
Leading Arkansas wide receiver La'Michael Pettway is leaving to play his senior season elsewhere as a graduate transfer, becoming at least the 10th player to leave the Razorbacks since their 2-10 season.
Oklahoma blocking QB transfer Austin Kendall from 2019 eligibility at West Virginia
Sources tell ESPN that Oklahoma is blocking quarterback Austin Kendall from being immediately eligible at West Virginia as a grad transfer next season.
Foxworth, Spears get heated about Murray's NFL potential
Domonique Foxworth and Marcus Spears get fired up debating if Kyler Murray should play baseball or football.
UConn names Tide analyst Lou Spanos as defensive coordinator
Lou Spanos, who has coached in both college and the NFL, has been named the new defensive coordinator at UConn.
R.C. Slocum, Terry Mohajir, Ray Odierno to join CFP selection committee
Hall of Fame coach R.C. Slocum, Arkansas State AD Terry Mohajir and former U.S. Army Chief of Staff Gen. Ray Odierno will each serve a 3-year term on the CFP selection committee.
Oklahoma adds Roy Manning, Brian Odom to defensive staff
Oklahoma has hired Roy Manning as cornerbacks coach and Brian Odom as inside linebackers coach.