Uribe broke a 1-1 tie with a shot to center in the fourth and Kemp added his homer in the seventh to hand the Padres their third straight setback.
Ted Lilly (2-2) gave up only a third-inning run on five hits with four strikeouts over six innings to get the win.
Venable went to second on fielder's indifference and scored on Orlando Hudson's single. Hudson moved to third on Chase Headley's single to put the potential winning run on base.
Nick Hundley then hit the ball hard, but right at left fielder Tony Gwynn to end the game.
Clayton Richard (1-2) took the loss, giving up two runs on eight hits in 5 2/3.