The play occurred with 1:30 remaining in the first half of the Chiefs' 27-24 victory at Arrowhead Stadium in Kansas City.
Mahomes and the Chiefs were facing a 2nd-and-1 from their own 28-yard-line during the sequence. Mahomes took the snap out of the shotgun formation before dropping back in the pocket. Mahomes avoided the Ravens pass rush by dodging several defenders while keeping his eyes downfield.
He eventually stepped up in the pocket while looking to his right. But he threw a laser pass to the left side of the field. The throw hit Demarcus Robinson in stride for a 17-yard pickup and a Chiefs first down.
The Chiefs went on to get a 24-yard field goal from Harrison Butker to end the drive, taking a 17-10 lead at halftime.
"I'm definitely comfortable with [throwing on the run], but I'm definitely more comfortable when it's on time and you can kind of just set your feet and throw," Mahomes told reporters. "That's when you can really show off the accuracy and what you've got to do to be a great quarterback in this league. I've definitely built that comfortability with moving left or right and these guys are extending plays and getting open. So, I'll definitely do that when the opportunity shows itself. If I could throw it on time, I'd rather do that."
Mahomes completed 35-of-53 pass attempts for 377 yards, two scores and one interception in the win. Robinson had five catches for 42 yards for the Chiefs.
The second-year gunslinger now has 43 touchdowns and 11 interceptions on the season. He also has 4,300 passing yards.