The kick, Janikowski's second field goal in the contest, capped a four-play, 20-yard drive engineered by quarterback Bruce Gradkowski, who completed 17-of-34 passes for 183 yards, two touchdowns and one interception.
Zach Miller caught five passes for 65 yards for the Raiders (3-7), who stopped a three-game losing streak.
Bernard Scott rushed for 119 yards on 21 carries for Cincinnati. Carson Palmer passed for 207 yards, no touchdowns and one interception, and Chad Ochocinco caught four passes for 67 yards for the Bengals (7-3).
Despite joining AFC North rivals Baltimore, Pittsburgh and Cleveland in Sunday's loss column, Cincinnati maintained its one-game division lead over the Steelers.