Ellsbury's comebacker hit off Soria's glove and caromed toward third baseman Christian Colon, whose throw to first wasn't nearly in time, and pinch-runner Aaron Hicks scored from third.
The Royals had runners on second and third with none out in the bottom of the 10th, but reliever Ben Heller struck out Lorenzo Cain. The Royals then had the bases loaded and one out, but Yankees reliever Chasen Shreve struck out Kendrys Morales, and got Salvador Perez to fly out to end the game.
The Yankees stayed 3 1/2 games behind the Orioles in the American League Wild Card standings.