Udinese's Ilija Nestorovski, left, celebrates with his teammate Stefano Okaka after scoring his side's first goal during a Serie A football match between Udinese and Juventus, in Udine, Italy, Thursday, July 23, 2020.
Needing a victory to wrap up the title with three games to spare, Juve produced another strangely subdued performance but went ahead with a long-range shot by defender Matthijs de Ligt three minutes before halftime.
Ilija Nestorovski equalised before Seko Fofana scored a dramatic 92nd-minute victor, leaving Juve six points clear with three games remaining.
Seko Fofana scored the victor for the hosts in second-half injury time to steal all three points from Juventus.
Fourth-placed Lazio, who have four matches remaining starting against Cagliari later on Thursday, have 69 points.
It was a precious three points for Udinese who move up to 15th position, seven points clear of the relegation zone.
They have only won one of their past five Serie A games, but the three teams below them - Atalanta, Inter Milan and Lazio - have all dropped points recently.
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"We lost order, even after the draw, because we wanted to win at all costs", Juventus coach Maurizio Sarri said.
"We wanted to win at all costs, we were messy and we took the game on a unsafe track and lost it on 93 minutes because we wanted the three points".
Juve will instead get a chance to secure a ninth straight Serie A title when they host Sampdoria on Sunday.
Ilija Nestorovski cancelled out Matthijs de Ligt's opener and Seko Fofana grabbed the victor in second-half stoppage time to keep Juve's celebrations on ice.
"It is hard [to find balance], we are all more exhausted and teams struggle to be aggressive". Sema swung a cross over to the far post where Nestorovski met it with a diving header which flew into the net.
As Juve pushed for a victor, Fofana ran from the halfway line, beat Alex Sandro for pace before cutting inside De Ligt and slotting the ball under Wojciech Szczesny.