Voracek scored in the final 10 seconds of the second period and in the first 18 seconds of the third to give the Flyers a 4-2 lead and they held a 5-3 advantage heading into the closing 10 minutes of regulation.
Voracek, however, broke that tie with a wrist shot that gave him six goals for the season.
Philadelphia overcame a 2-0 deficit and snapped the Penguins' three-game winning streak. Wayne Simmonds scored twice for the Flyers, who concluded a season-long, six-game road trip.
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