Jeter went 3-for-4 with three RBI and Brett Gardner drove in a pair of runs on two hits for New York, which came back from a 3-2 deficit and pulled into a tie with idle Boston atop the American League East standings.
A.J. Burnett (9-9) earned in the victory despite lasting just 5 2/3 innings, allowing three runs and 10 hits. A double play in the fifth inning enabled him to escape further damage.
Kansas City's Felipe Paulino (1-5) was touched for five runs on eight hits over 5 1/3 innings to take the loss.
Rookie second baseman Johnny Giavotella provided three hits for the Royals.