Chase Daniel completed 30-of-38 passes for 318 yards with three touchdowns and two interceptions for Missouri (7-2, 3-2 Big 12).
Derrick Washington led the Missouri ground attack with 97 yards on 14 carries, while Jimmy Jackson added a rushing score. Chase Coffman caught 10 passes for 75 yards with a pair of touchdowns and Tommy Saunders had seven receptions for 109 yards for the Tigers.
Robert Griffin completed 26-of-35 passes for 283 yards with two touchdowns for Baylor (3-6, 1-4), losers of three straight and five of their last six. Griffin also ran for a touchdown and Jay Finley had 73 yards rushing.