GLENDALE, Ariz. — Dwight Freeney has been harassing NFL quarterbacks for 14 years.

Add Teddy Bridgewater to the list.

Freeney knocked the ball out of Bridgewater’s hand as the Minnesota quarterback prepared to pass. Arizona’s Calais Campbell recovered with 5 seconds to go and the Cardinals escaped with a 23-20 victory over the Vikings on Thursday night.

“Freeney is a heck of a player,” Minnesota tight end Kyle Rudolph said, “and he’s been doing that for a long time.”

The Vikings, as they did much of the night, moved swiftly downfield to the Arizona 31, well within Blair Walsh’s range for a game-tying field goal.

But it never came to that, thanks to the 35-year-old Freeney, who didn’t sign with Arizona until Oct. 13.

“That’s why I came back, because moments like this, you can’t duplicate those in life,” Freeney said. “...Yeah, it was one of my spin moves. It’s funny because I spun three times on that series.”

The third time was a charm.

Carson Palmer threw for 310 yards and two touchdowns and the Cardinals (11-2) won their seventh in a row and clinched a spot in the playoffs.

“We don’t know where or when, but we’re in,” coach Bruce Arians said.

The Cardinals’ goal is at least a No. 2 seed in the NFC West, which would mean a first-round bye. With this victory, Arizona pulled 2 1/2 games ahead of Green Bay and three ahead of Minnesota for that No. 2 spot with three to play.

Palmer even had a 6-foot-5, 331-pound receiver. Left guard Mike Iupati caught a deflected pass and carried it for an 11-yard gain to help set up what proved to be a 47-yard game-winning field goal with 1:25 left.

Minnesota (8-5) fell a half-game behind Green Bay for first place in the NFC North.

Bridgewater completed 25 of 36 passes for a career-high 335 yards.