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.
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