Rodgers' second scoring strike was a 14-yarder to Greg Jennings at 8:44 in the third period that gave the Packers the lead for good at 21-17 and Desmond Bishop picked off Brett Favre a minute later and rambled 32 yards for a touchdown, giving Green Bay (4-3) some breathing room.
Favre, the former Packers great playing perhaps his final game at Lambeau Field, rallied the Vikings with a 4-yard TD pass to Randy Moss later in the third period to pull Minnesota (2-4) to within 28-24.
But he could get his team no closer in a battle of traditional NFC North foes. Nick Collins picked off Favre with 9:18 left in the game and two desperation passes into the end zone in the final seconds missed their marks.
Rodgers finished 21-of-34 for 295 yards with a pair of interceptions. James Jones hauled down four passes for 107 yards and Jennings finished with six grabs for 74 yards for the Packers.
Minnesota's Adrian Peterson ran for 131 yards on 28 carries and added 41 receiving yards in the setback.