N. Carolina A&T (0-10, 0-7 Mid-Eastern Athletic Conference) drove into Florida A&M territory in the final seconds, but two incomplete passes ended the game.
Florida A&M backup quarterback Eddie Battle threw two touchdown passes to Willie Hayward to help Florida A&M (3-6, 2-4 MEAC) break a four-game losing streak.
The Rattlers opened the scoring with a field goal and then got their first touchdown when Battle hit Hayward on a 30-yard touchdown pass. The pair connected again on a 73-yard touchdown with 8:24 left in the second quarter, giving the Rattlers an 18-0 lead.
But N. Carolina A&T scored the next three touchdowns to take a 21-18 lead with 8:09 left in the third quarter.
Quarterback Herbert Miller threw a 33-yard touchdown pass to Michael Caldwell and scored on a two-yard run. Michael Ferguson scored N. Carolina A&T's other touchdown on a two-yard run.
Taylor tied the game at 21-all with a 43-yard field goal in the third quarter before kicking the gamewinner.
The game was delayed at halftime after a confrontation between the N. Carolina A&T team and the Florida A&M marching band.