Prince Fielder led the inning off as he scrapped out a double as the Royals' shortstop could not handle a little chopper hit right to him. The Royals intentionally walked Delmon Young and Berry then hit into a force out at third.
Moustakas could not handle a groundball for a tailor-made double play and the Tigers loaded up the bases.
Herrera who was on in relief had a full count on Alex Avila. Avila hit a shot down the line at first and Peña trapped the ball in play, tagged the bag at first but could not get the force out at home.
The Tigers now take a 1.5 game lead in the A.L. Central with the win as the Chicago White Sox have yet to play. They face the Cleveland Indians later in the game.
Detroits' Doug Fister led the team to victory, by pitching well in the game. At one point, Fister set the American League record after striking out nine consecutive batters.
He went 7.2 while giving up two earned runs on five hits. He had no walks and 10 strikeouts. Fister got the no decision as the Tigers' bullpen blew the win.
The Royals rallied back in the top of the eighth to make it a 4-3 game. Joaquin Benoit could not get the save in the ninth as Billy Butler got a hold of one, sending a Benoit pitch over the fence and tying the game in the top of the ninth.
The Royals lousy defense helped the Tigers take this one. They finished the game with five errors.
