Sheffield, who came off the disabled list Tuesday, and Carlos Guillen each had four hits for Detroit.
Rick Ankiel hit two homers and drove in three runs, and Skip Schumaker also homered for St. Louis.
Clete Thomas led off the ninth with a double off the left-field wall. Sheffield then lined Kyle McClellan's 3-2 pitch into right-center to score Thomas.
Todd Jones (3-0) pitched a perfect ninth for the win. McClellan (0-3) took the loss.
Tigers starter Armando Galarraga allowed five runs and eight hits in 4 2/3 innings and the Cardinals' Kyle Lohse gave up five runs and 11 hits in four innings.
Aaron Miles' two-out RBI single gave St. Louis a 7-6 lead in the top of the eighth, but Magglio Ordonez's two-out, run-scoring single in the bottom of the inning tied it for Detroit.
The game was delayed by rain for two hours and 25 minutes in the top of the fifth inning and didn't end until 12:51 a.m.
[Associated Press; By RICK GANO]
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