MIAMI GARDENS, Fla. — Aaron Rodgers threw a 4-yard touchdown pass to Andrew Quarless with three seconds left to lift the Green Bay Packers to a 27-24 victory over the Miami Dolphins on Sunday.

Rodgers completed 24 of 42 passes for 264 yards and three touchdowns and engineered the winning 11-play, 60-yard drive.

Wide receivers Jordy Nelson and Randall Cobb also caught touchdown passes for Green Bay (4-2), which has won three straight.

Miami (2-3), playing for the first time since beating Oakland 38-14 in London on Sept. 28, was unable to hold onto a 24-17 lead with five minutes left.

Wide receiver Jarvis Landry, running back Lamar Miller and wide receiver Mike Wallace scored for the Dolphins. Quarterback Ryan Tannehill threw for 227 yards and two scores with two interceptions.

Mason Crosby started the comeback effort by making a 30-yard field goal with 4:09 left to pull the Packers within 24-20.

After forcing the Dolphins to punt, the Packers began their drive at the Miami 48 with 1:57 left.

Rodgers fumbled on third down after a sack by defensive ends Cameron Wake and Olivier Vernon, but the ball was recovered by teammate T.J. Lang to give the Packers another shot. Facing a fourth-and-10, Rodgers completed an 18-yard pass to Nelson, who beat cornerback Brent Grimes on the play.

After a short pass to Cobb, who stayed inbounds with the clocking ticking under 20 seconds, the Packers rushed to the line of the scrimmage for what appeared to be a spike, but instead Rodgers threw a quick strike to wide receiver Davante Adams for a 12-yard gain to the 4 as Adams got out of bounds to stop the clock with six seconds left.

The Dolphins trailed 17-10 to begin the fourth quarter before scoring two touchdowns to take a 24-17 lead with 9:13 left.

Miller scored on a 5-yard touchdown run and helped set up the second score with a 20-yard reception. Two plays later, Tannehill found Wallace open in the end zone for a 5-yard touchdown.

The Dolphins tied the score at 10 early in the third quarter on an 11-yard touchdown pass from Tannehill to Landry. The Packers responded as Rodgers threw a 5-yard touchdown pass to Cobb for a 17-10 lead.

Green Bay opened the scoring with a 9-yard touchdown pass from Rodgers to Nelson. Rodgers completed all five of his passes for 69 yards on the drive.

Both teams traded field goals with the Dolphins’ Caleb Strugis converting a 48-yarder and Crosby connecting from 43 yards for the Packers to take a 10-3 lead into the break.

NOTES: Packers QB Aaron Rodgers played in his 100th career regular-season game. Only former Dolphins quarterback Dan Marino (217) has thrown for more touchdowns in his first 100 games than Rodgers’ 202 in NFL history. … DE Cameron Wake had his first sack for the Dolphins since his two in the season opener against New England. … Dolphins RB Knowshown Moreno (elbow) returned to action after missing the last two games and rushed for 00 yards on 00 carries.