The Kangaroos (8-5, 1-2 Summit) prevailed after blowing a 20-point advantage in the second half. UMKC was up 52-32 with 16:06 to play before the Bison (7-5, 1-1) started chipping away at the lead. North Dakota State finally tied it at 73 on Taylor Braun's layup with 6 seconds remaining.
Reggie Chamberlain then missed a 3, but Hall tapped in the winning basket.
Chamberlain had 16 points for UMKC, Jay Couisnard added 15 and Hall had 14.
Michael Tveidt led North Dakota State with 20 points while Braun had 19.
The Bison led 5-4 early before the Kangaroos pulled away with a 16-4 run en route to a 43-23 halftime lead.