The Brewers tied it in the ninth on Norichika Aoki's two-out, two-run homer off closer Jason Motte. The two-strike drive barely cleared the right-field wall.
Matt Carpenter singled with one out in the St. Louis 10th off Kameron Loe (6-5) and moved up on a wild pitch. Craig singled and Carpenter made a nifty slide to score.
The Cardinals ended a three-game skid and held their slim lead for the second NL wild-card spot.
Milwaukee, which has won 15 of 20, was trying to reach the .500 mark for the first time since April 24.
Lance Lynn (14-7) picked up the win with one inning of scoreless relief.
Matt Holliday hit a two-run homer, his 26th, off Shaun Marcum. One out later, Carlos Beltran hit his 29th home run and first since Aug. 10.
Beltran ended an 0-for-14 slump. He had not gotten an extra-base hit in his previous 49 at-bats.

St. Louis pushed the lead to 4-1 in the second on doubles by pitcher Joe Kelly and Carpenter.
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Milwaukee climbed to 4-2 in the fourth on singles by Corey Hart, Jonathan Lucroy and Jean Segura.
Segura, who had a career-high three hits, doubled with one out in the ninth off Motte. One out later, Aoki hit his eighth home run.
NOTES: Cardinals 3B David Freese missed the game with a mild left ankle sprain. He is considered day-to-day. ... St. Louis reliever Edward Mujica pitched a scoreless seventh inning. He has not allowed a run in 18 appearances since coming to the Cardinals in a July 31 trade. ... Milwaukee 1B Corey Hart left the game in the fifth inning with a left ankle sprain. ... The Cardinals improved 4-10 in extra innings. ... St. Louis opens a seven-game road trip at San Diego on Monday. Jaime Garcia (4-6, 4.16) will face Eric Stults (5-2, 2.35). ... Milwaukee begins a six-game homestand against Atlanta. Wily Peralta (1-0, 5.14) takes on Mike Minor (8-10, 4.58).
[Associated
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