The Lions mounted a 14-0 run during a six-minute span in the first half to take a 29-16 lead over the Jackets with 4:42 remaining. Waynesburg trimmed the lead to 34-30 at halftime after scoring six straight points to end the half.
The Lions would expand its second half lead to 11 points before the Yellow Jackets went on a 12-1 run with nine minutes left in the game.
With the score tied at 70-70 with two minutes left Beau Wilson hit two free throws with 59 seconds remaining. After a missed Lion layup with two seconds on the game clock, Waynesburg hit one of two free throws to seal the victory.
Reigning PAC Player of the Week Marc Lodovico scored 14 points on 6-of-12 attempts to tie for the lead for the Jackets.
Reserve swingman Ryan Bujnowski also scored 14 points, a season and career-high, and grabbed a team-high eight rebounds in 19 minutes of play.
Wilson finished with 13 points, while Jeff Nero scored 12 points and recorded a team-high four assists.
Waynesburg shot just 54.5 percent from the free throw line, but made more free throws (18) than Penn State attempted (16). Waynesburg also held a 17-4 advantage in second-chance points category.
Waynesburg (5-6) continues its season-long home stand on Saturday, Jan. 8 when it hosts Penn State-New Kensington for a 7:30 p.m. start. The meeting is the first ever between the two schools.