The decision to go for a touchdown on fourth down instead of kicking a go-ahead field goal "gave us the best chance to win", Baltimore Ravens head coach John Harbaugh insisted after the 23-20 defeat to the Buffalo Bills.

With the scores tied at 20-20 in the fourth quarter, the Ravens put together a 14-play, 93-yard drive from their own five-yard line to give themselves the opportunity to gain a precious late lead.

However, the drive stalled at the crucial moment and the Ravens faced a fourth-and-goal from the Bills' two-yard line with just over four minutes left in the game.

While a short field goal would have given the Ravens the lead, Harbaugh opted to go for the touchdown. The decision did not pay off as quarterback Lamar Jackson threw an interception, before Bills quarterback Josh Allen led a 77-yard drive to set up Tyler Bass for the game-winning field goal as time expired.

After the match, Harbaugh defended his late-game strategy, telling reporters: "[If] you kick a field goal there, now it's not a three-down game anymore, it's a four-down game.

"You're putting them out there, you're putting your defense at a disadvantage because they've got four downs to convert all the way down the field and a chance to again score seven, and then you lose the game on a touchdown.

"It didn't turn out that way, unfortunately, and we lost the game. So, hindsight, you could take the points, but if you look at it analytically, understand why we did it."

The decision sparked a furious touchline altercation between Harbaugh and cornerback Marcus Peters, with the former Kansas City Chief having to be pulled away from his coach.

But Harbaugh was not fazed by the interaction after the game, adding: "Emotions run high.

"We're on the same page, he and I. We have a great relationship, we have an honest relationship. I love him, I hope he still loves me. We'll see. I'm a Marcus Peters guy."

The Baltimore Ravens got one of their most important defenders back for Monday’s training camp practice, as cornerback Marcus Peters took the field for the first time since tearing his ACL last September.

Peters, who missed the entire 2021 campaign after suffering the injury four days before the season opener, was activated from the physically unable to perform list and took part in individual drills as he gradually makes his way towards being cleared for full practices.

The three-time Pro Bowl selection’s return bodes well for his chances of being ready for Baltimore’s 2022 opener at the New York Jets on September 11.

"[The medical staff] has a plan for that," Ravens coach John Harbaugh said Monday about Peters’ timetable. "Marcus is in a good place. Came back from PUP, did individual today. That was good."

One of the game’s premier ball hawks, Peters has recorded a league-high 31 interceptions since entering the NFL with the Kansas City Chiefs in 2015. That total is the second highest of any player through his first six seasons among players whose careers began in 2000 or later, behind only former Ravens great and Pro Football Hall of Famer Ed Reed’s 34 (2002-07).

With Peters unavailable, Baltimore’s defense generated only nine interceptions last season (tied for 26th in the NFL) and allowed a league-high 4,742 net passing yards, a prime reason why the 8-9 Ravens finished with their first losing season since 2015.

A healthy Peters gives Baltimore one of the top cornerback duos in the NFL alongside Marlon Humphrey, a two-time Pro Bowler and a first team All-Pro in 2019.

"It was good to see that he’s improving and making the strides to be ready to go out there and help us compete," defensive lineman Calais Campbell told the Ravens’ official site. "This team is very, very talented, and we just got a whole lot better with him on the field."