The Chiefs forced overtime late in the fourth quarter when Ryan Succop kicked a 38-yard field. Daniel's TD pass to Richardson capped a 13-play, 71-yard drive in overtime.
Daniel went 14-of-24 passing for 152 yards and the touchdown. Kansas City starter Alex Smith was 17-of-24 for 158 yards and a touchdown.
Dwayne Bowe caught six passes for 73 yards for the Chiefs.
Ben Roethlisberger was 13-for-19 passing for 166 yards and a touchdown for the Steelers. Backup Brad Gradkowski was 8-of-17 for 115 yards and a TD.