The Eagles led by one at the half, 38-37, but the Wasps gained the upper hand early in the second half and took a five-point, 49-44, lead on a Lance Reasbeck 3-pointer with 13:50 left.
The Wasps maintained the lead until back-to-back buckets by Ricky Easterling gave the Eagles a 57-55 lead with 8:03 to play. Another jumper by Easterling pushed the lead to four with 5:47 to go and the Eagles led the rest of the way.
The Eagles took their biggest lead of the second half, 66-59, on an Ashby Tarkington jumper with 2:47 remaining, but the Wasps continued to battle and pulled to within three when Cortez Watson scored on a stickback with 1:21 to play.
With 17 seconds left the Eagles led by three with Tarkington going to the line for a one-and-one. Tarkington missed the free throw, but Clay Michael tipped the rebound back out to Tarkington who was fouled again and this time made both to put the Eagles up by five.
Tarkington led the Eagles with 19 and Easterling added 16. Michael had his fourth straight double-double with 10 points and 11 rebounds.
Reasbeck led the Wasps with 18 points. Korey Townsend scored 13 and Davon Jones added 12. Emory & Henry dropped to 5-8 overall and 2-4 in the ODAC.