Mike Venezia added 10 points for Colgate (10-10, 2-4 PL), which snapped a four-game losing streak.
Tim Clifford's 11 points and seven rebounds led Holy Cross (10-9, 1-5).
Holy Cross led by as many as seven points in the first half. Colgate took its first lead, 14-12, on Woodhouse's jumper with 8:24 left, and went on to lead 23-22 at the half.
In the second half, Holy Cross held a five-point lead, 31-26, before Colgate put together a nine-point run. Roemer scored the first five points in the run to tie the contest at 31-31, before Woodhouse scored on a layup and Roemer hit a jumper to put Colgate ahead for good.
Holy Cross could get no closer then five points in the final five minutes, and the Raiders made six of eight free throws in the final minute to secure the victory.