A Matt Moylan-led comeback in the final 90 seconds of the game has seen Penrith down the Raiders in Bathurst 24-20 after trailing by eight points at the 78 minute mark.
Canberra dominated early proceedings with Jordan Rapana opening the scoring after just four minutes. Penrith then moved to wrestle back control and ended up dominating much of the first half themselves, starting with Moylan slicing easily between the Raiders' defence. Cleary converted that one for a 6-4 lead.
Neither side troubled the scorers again in the first half, but after the break both went on the offensive. Within 45 seconds Nathan Cleary was streaking away off a Moylan set-up to extend the home team's lead.
Canberra weren't taking it laying down - Nick Cotric hit back for the visitors after just five minutes of the second half, then the Raiders steamed into the lead around the hour mark with back to back tries to Joey Leilua and a second for Cotric sending them 20-12 in front.
Wayward kicking from Croker left the door slightly ajar for Penrith - it looked like it would be enough to hold on for the Raiders until the 78th minute. Then - a whirlwind.
Corey Harawira-Naera narrowed the gap with a try under the sticks inside the final 90 seconds, converted by Cleary to bring the scoreline to 20-18 in Canberra's favour.
The remaining seconds would be frantic - and a scattered Raiders defensive line was no match for Matt Moylan who was able to cut through and put Tyrone Peachey over for the match winner, sending the Panthers fans who'd trekked across the mountains home very happy.
Both sides enjoy the bye next week prior to Origin II, with Penrith off to Townsville in a fortnight, while the Raiders will need to turn their season around post-bye when they host Brisbane.