The pair's second TD connection in the contest - they also got together on a 10-yard pass for a 17-10 Holy Cross (8-1, 4-0 Patriot League) lead midway through the third - capped the game-winning, 81-yard drive.
Lehigh (2-7, 2-2) tied the game at 17 late in the third on Jay Campbell's 18-yard TD pass to Alex Wojdowski. The Mountain Hawks pulled ahead on Jake Peery's 38-yard field goal with 13:36 left in the game, setting the stage for Randolph's game-winning TD pass just over 12 minutes later.
Randolph finished 23-for-37 with 247 yards and an interceptions for the Crusaders, and Santana caught four balls for 50 yards.
J.B. Clark had 186 yards passing for Lehigh and Jay Campbell rushed for 131 yards.