NEW YORK — Sidney Crosby scored the tying goal with less than a minute remaining in regulation, Evgeni Malkin put in the winner 58 seconds into overtime and the Pittsburgh Penguins beat the struggling New York Rangers 5-4 on Tuesday night.

Patric Hornqvist, Phil Kessel and ex-Ranger Carl Hagelin also scored for the two-time defending Stanley Cup champions, who handed New York (1-5-1) its fourth straight loss.

Rangers captain Ryan McDonagh turned the puck over in overtime and Kessel set up Malkin for the game-winning goal. Just before that, the Rangers iced the puck, leading to a faceoff in their zone.

Michael Grabner put New York ahead 4-3 when he and David Desharnais completed a nifty give-and-go at the 8-minute mark of the third period.

Desharnais, Pavel Buchnevich and J.T. Miller scored in a span of 2:30 as the Rangers got three straight goals early in the second to take a 3-2 lead.

Penguins goalie Matt Murray and counterpart Henrik Lundqvist each made 28 saves in the first of four meetings this season between the division rivals.

Crosby scored with 56 seconds left in the third period when he put a puck between Lundqvist’s pads. It was Crosby’s fifth consecutive game at Madison Square Garden with a goal.

Kessel scored on the game’s first shot just 43 seconds in. Hagelin made it 2-0 when his wrist shot sailed over Lundqvist’s glove. Olli Maata extended his point streak to six games (one goal, five assists) with an assist on the second goal.

In the second period, Desharnais snapped a shot past Murray to cut the margin in half. It was Desharnais’ first goal for the Rangers since signing a one-year contract this summer.

Shortly after that, Crosby took a double-minor for high-sticking Jimmy Vesey. The Rangers took full advantage of the opportunity as they scored on both chances.

Buchnevich got his first of the season and then a minute later, Miller launched a snap shot past Murray to give the Rangers a 3-2 lead.

Hornqvist tied it late in the second period on the power play with Rangers forward Chris Kreider in the box. Kreider was penalized for cross-checking, which abruptly ended a two-man advantage for New York.

Malkin went to the dressing room with 14:17 remaining in the third period. Shortly before that, he scrapped with Rangers defenseman Kevin Shattenkirk. They were given matching two-minute roughing penalties.

Murray passed Penguins general manager Jim Rutherford for sole possession of 10th place on the team’s career wins list with 45.