Sano, who hit a two-run home run earlier, missed a grand slam to left by inches. Mauer then lined another shot into the right-field corner.
Catcher Salvador Perez and designated hitter Brandon Moss homered for the Royals, who hadn't lost eight straight since June. Ian Kennedy started and gave up two runs in 5 1/3 innings.
Twins starter Kyle Gibson, trying to hold onto his spot in the rotation, lasted 5 1/3 innings and gave up five hits and three runs.
Rhett Bollinger has covered the Twins for MLB.