Minnesota Vikings quarterback Kirk Cousins (8) throws a pass against the Denver Broncos during the first quarter at U.S. Bank Stadium in Minneapolis on Sunday, Nov. 17. Ben Ludeman / USA TODAY Sports

The Minnesota Vikings made up for three bad quarters of football with a dominant one on Sunday.

Kirk Cousins was 29-of-35 passing for 319 yards and three touchdowns to lead Minnesota to a come-from-behind 27-23 home win over the Denver Broncos.

The Vikings (8-3) trailed 20-0 at halftime and 23-7 after three quarters, but scored three touchdowns in the fourth quarter to rally and win for the sixth time in their past seven games.

Cousins hit Kyle Rudolph for a 32-yard touchdown pass with 6:10 remaining to give the Vikings a 27-23 lead, their first of the game.

Denver (3-7) took the ball and put together a 19-play drive to the Minnesota 4-yard line in the final seconds, but the Broncos couldn't connect on three consecutive passing plays before time ran out.

Following a 47-yard field goal by Brandon McManus, the Broncos took a 10-0 lead with 4:43 left in the first quarter on a 3-yard touchdown pass from Brandon Allen to Troy Fumagalli, capping off a 90-yard drive in six plays.

Denver then mounted another lengthy drive, going 69 yards in 10 plays and taking a 17-0 lead with 12:281 remaining in the second quarter on a 1-yard touchdown run by Andy Janovich.

McManus added a 29-yard field goal with 1:10 left in the second quarter.

The Vikings responded to start the second half, driving down the field on the opening possession of the third quarter and cutting Denver's lead to 20-7 on a 10-yard touchdown pass from Cousins to Irv Smith Jr. with 11:34 left in the third.

Denver went ahead 23-7 with 4:27 left in the third quarter on a 41-yard field goal by McManus, but Minnesota cut its deficit to 23-13 with 13:30 left in the game on a 3-yard touchdown run by Dalvin Cook.

The 2-point conversion attempt failed.

Minnesota then closed within 23-20 with 10:29 remaining on a 54-yard touchdown pass from Cousins to Stefon Diggs, who caught five passes for 121 yards.

Courtland Sutton caught five passes for 113 yards in defeat for Denver.

MINNEAPOLIS — What a difference a half makes.

The Minnesota Vikings played one of its worst halves of football this season Sunday, Nov. 17. The offense punted the ball five times and fumbled it away to the Denver Broncos twice en route to a 20-0 halftime deficit.

But whatever head coach Mike Zimmer told his team in the locker room worked. Minnesota scored touchdowns on its first four drives after the break, and the defense locked down quarterback Brandon Allen and the Denver offense to finish off an improbable 27-23 win at U.S. Bank Stadium.

After a first half of mostly checking down the ball to his backs and tight ends, Kirk Cousins found success with a more aggressive approach. Touchdown strikes to Irv Smith Jr., Stefon Diggs and Kyle Rudolph were part of his 261 second-half yards. He completed 29 of 35 attempts for 319 yards.

Denver drove down the field late in the fourth quarter, advancing to the Minnesota 4 yard line. But strong coverage by a Minnesota secondary that was leaky early in the game denied Denver's own attempted comback.

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