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Kansas City managed a field goal by Ryan Succop, but he missed his next try and the Colts went the other direction to set up the first of Adam Vinatieri's two field goals.
Charles fumbled in the red zone later in the second quarter, and the Colts moved into Vinatieri's range for a 36-yard field goal and a 13-3 halftime lead.
Charles electrified a sparse crowd on the first play of the second half. He angled to the left and then found room down the sideline, cutting back toward the middle of the field and winning a foot-race with the Indianapolis defense for an 86-yard touchdown run.
The Chiefs were in position to take the lead later in the third quarter, but Quinn was picked off by Vontae Davis in the end zone. The defense forced a three-and-out and Kansas City was driving again before settling for Succop's tying 47-yard field goal.
The Chiefs got the ball back again late in the fourth quarter, but Quinn was stuffed on a quarterback sneak on fourth-and-inches from the Indianapolis 27.
That turned the ball over to Luck, who completed an 11-yard pass to T.Y. Hilton to convert a third down before he and Wayne won it.
"At times it looked a little bleak," Arians said. "Guys hung in there, made plays when they had to make them. Offensively we struggled, and then put together a drive, like we have all year."
NOTES: Chiefs WR Terrance Copper (left knee) and DT Tyson Jackson (left foot) left with injuries. ... Wayne had five catches to become the fifth player in NFL history with four 100-catch seasons. He also became the 14th player to reach 13,000 yards receiving.
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