Four late free throw conversions by Malik Smith in the final 30 seconds and one by Elliott Eliason with 33 seconds, enabled the Gophers (13-3, 2-1 Big Ten) to hang on after taking its first lead of the second half with 1:43 remaining.
Tim Frazier scored 20 points for Penn State (9-7, 0-3) but was unable to finish the game after injuring his right leg with 2:08 left and Penn State leading 59-57.
Mathieu forced back-to-back Penn State turnovers, including a strip of John Johnson and his ensuing basket gave the Gophers a 63-60 lead and forced Penn State to foul.
The Nittany Lions' Allen Roberts missed a game-tying 3-point shot with 1 second to go.
Minnesota, which has won 30 out of 40 games in its series with Penn State, also got 11 points and 12 rebounds from Eliason.
Minnesota Holds off Nebraska-Omaha ,93-90
Joey King scored 18 points and Bakary Konate added 14 with 10 rebounds and Minnesota held off Nebraska-Omaha 93-90 on Friday.
Preview: Gophers vs. Omaha
The University of Minnesota men’s basketball team returns to the Barn to begin a four-game homestand Friday against Omaha.
Minnesota Falls Short to Texas Tech, 81-68
Carlos Morris and Joey King each scored 15 points to lead the Gophers (3-2).