Andersen had missed a 52-yard attempt in the final minute of regulation.
His heroics made it a fruitful day for quarterback Michael Vick, who completed 18 of 30 passes for 232 yards, with a career-high four touchdowns and two interceptions.
Ben Roethlisberger was carted off the field after being hit in the head in the third quarter.
He was 16-for-22 for 238 yards, three touchdowns, and no interceptions; Charlie Batch was 8-of-13 for 195 yards and two touchdowns; and Hines Ward scored three times on eight receptions for 171 yards for the Steelers (2-4).
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