Shaun Briscoe's two second-half tries earned Hull KR their third derby win in four games over Hull FC at Craven Park.
The bitter rivals were level at 4-4 at half-time, Kirk Yeaman's try having been cancelled out by Kris Welham.
Martin Gleeson's try shortly after the restart put Hull in front again but Briscoe was on hand to once more pull the Robins level against his old club.
Briscoe then put the hosts in front for the first time before Michael Dobson's late drop goal confirmed victory.
Despite being one of the lowest scoring derbies in recent times, it was an exhilarating game in front of a sell-out crowd.
The visitors had the best chances in the opening quarter, almost taking the lead after Blake Green fumbled possession 10 metres from Hull's line.
Tom Briscoe swooped in for the loose ball, but Welham waded in to stop a certain try.
However, from the resulting attacking scrum, Hull worked the opening for Sean Long to send Yeaman over for his 16th try of the season, Danny Tickle missing the conversion.
That edged Yeaman one try ahead of Rovers centre Welham in the race to be Super League top try scorer this season. But the pair were back on level terms, on 16 each, three minutes before half-time.
Following Scott Murrell's error-forcing tackle on Richard Whiting 20 metres from Hull's line, Rovers worked the ball to the left-hand side where Ben Galea sent Welham over, the normally reliable Dobson also missing with the kick.
Aftyer going in 4-4 at the break, went ahead for the second time when a brilliant dummy from Joe Westerman fooled Briscoe to create the opening for Gleeson to touch down, Tickle redeeming his earlier miss to add the extras for a 10-4 lead.
But Hull's cheer did not last long as moments later they lost the influential Long with a dislocated shoulder.
While the Black and Whites tried to re-organised their defence, Briscoe pouncing after Gleeson had lost control of the ball.
With Dobson's conversion drawing Rovers level, Hull started to look nervous.
And Rovers took advantage of their frailties when Green teased the Hull defence down the left-hand side to create an opening for Briscoe to cross under the posts.
Dobson's second conversion gave Rovers the lead for the first time in the game.
And, although he missed a 74th-minute drop goal attempt that almost provided Galea with a try, three minutes later, Dobson made no mistake with his second effort to close out victory.
In the final minutes, Sione Lauaki and Scott Wheeldon squared up to each other sparking a brawl and Rovers were awarded the penalty for Lauaki's high shot, which ended Hull's chances of a comeback.
Hull KR coach Justin Morgan:
"We were the better side and thoroughly deserved to win.
"Everybody did their job. It was a derby and we played with great passion and spirit.
"Arguably, that was the best we have played this season. We won the battle for field position and their two tries came from our errors."
Hull coach Richard Agar:
"We were well in control. We were happy with the way we played and we nullified their kicking game.
"We were in a great position at half-time, but we only made one error in defence and we were burnt heavily."
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