Szmyt's 48-yard field goal in the third quarter brought Cleveland within 10-3. Loop missed from 49 yards early in the fourth, leaving the Browns one touchdown away rather than facing another two-score deficit.
Schwesinger gives Cleveland its opening
Carson Schwesinger forced Henry to fumble, and Tyson Campbell recovered at the Baltimore 35. The Browns used seven plays to tie it, with Audric Estime scoring from two yards out with 8:33 left.
Estime had joined Cleveland from Minnesota's practice squad during the week. He carried nine times for 19 yards with starter Quinshon Judkins unavailable because of an ankle injury.
Szmyt later missed a 48-yard attempt, but Baltimore failed to get a first down on either of its final two possessions. Cleveland took over at its 20 with 1:59 remaining, and Watson moved the Browns into range with a drive that included Jeudy's 33-yard gain.
Baltimore blocked the initial 42-yard attempt, but the offside call erased the play and moved the ball five yards closer. Szmyt converted the 37-yarder with no time remaining.
Watson finished 16 of 26 for 164 yards. Huntley was 19 of 31 for 165 yards and a touchdown, while Henry managed 58 yards on 17 carries. Cleveland visits Tennessee next Sunday; Baltimore hosts Cincinnati.