CHAMPAIGN, Ill. — Despite leading throughout most of the game, No. 6 Wisconsin suffered a last-minute upset loss, 23-24, to Illinois on Saturday after James McCourt kicked a 39-yard field goal as time expired.

The loss snaps Wisconsin's six-game unbeaten record this season and nine-game victory run against Illinois.

The Badgers (6-1, 3-1 Big Ten) opened play in strong fashion thanks to quarterback Jack Coan's 18-yard scoring strike to tight end Jake Ferguson. But Wisconsin struggled to keep momentum on the road, eventually losing a nine-point lead in the final 9:46 of the fourth quarter.

Tony Adams picked off a pass for the Illini (3-5, 1-3 Big Ten) at midfield with 2:33 remaining that led to the winning field goal. Dre Brown's 13-yard run moved Illinois to the Wisconsin 25 with 34 seconds left to set up McCourt's game-winner.

Jonathan Taylor rushed 28 times for 132 yards and one touchdown for Wisconsin, but a key fumble helped set up the Illinois comeback.

In a bright spot for the visiting team, Taylor surpassed 5,000 yards rushing on the Badgers' opening 16-yard carry. He's the fastest to ever reach the mark before the end of his junior season and one of only four total to achieve this impressive stat. He joins former Georgia running back Herschel Walker, former Oregon running back LaMichael James and fellow Badger Ron Dayne in this elite company.

Coan completed 24 of 32 passes with one TD and one interception. Ferguson led all receivers with 5 catches for 77 yards and his game-opening TD.

Kicker Collin Larsh successfully completed three of his four extra-point attempts, but missed his final kick late in the game to add to the Badgers' needed lead.

Chris Orr led the Badgers' defense with three sacks and nine total tackles. Jack Sanborn notched seven tackles against the Illini.

Wisconsin now turns its focus to next Saturday's trip to Columbus, Ohio and its game against fourth-ranked Ohio State. Kickoff is set for 11 a.m. (CT) on FOX.

The AP contributed to this article.