"It is always good to have a walk-off game, especially against the Yankees," Andino said. "We battled the whole game and pitching kept us in it. To walk them off like that, everybody wants to beat the Yankees."
Andino came to bat with two men on and one out in the 10th, and his liner down the left-field line scored Nolan Reimold.
"Just being aggressive," Andino said. "See a pitch up and try to put a good swing on it. We had a couple of plays at the plate and we felt like we'd get another chance."
Andino was asked about the play at the plate where Nick Markakis was out in the seventh, but ran over Yankees catcher Francisco Cervelli in the home plate collision.
"I guess it shows we won't stop or lay down, we'll keep battling," he said. "I'm pretty sure they know that, too."
Andino had a two-RBI day but also got caught stealing third base for the last out of the 8th and failed to cover second base for a force-out on a grounder up the middle earlier in the game.
"I thought he (shortstop J.J. Hardy) was throwing it to first and I didn't want to get hit in the dome," Andino said. "It was my fault, I should have kept going to second. I messed up, it's all good."
Orioles starter Alfredo Simon lasted just four innings and gave up four runs on six hits and a career-high six walks.
"I felt great, but I threw a lot of pitches over four innings, so the manager took me out," Simon said. "I threw too many balls, like 44 today. I just need to keep working and keep my pitches down."
The Orioles' bullpen combined to pitch six scoreless and hitless innings after Simon exited, not allowing a single Yankee to get in scoring position in that time.
Over the last three games, the O's bullpen has recorded 13 1/3 shutout innings. In that time, the 'pen has given up just four hits with three walks and 17 strikeouts.
The Orioles are now 8-7 in extra innings, including a 7-3 mark at home.
The season series ends with New York winning 13 of the 18 games. The Orioles went 3-6 at home and 2-7 on the road against the Yankees.
Jeremy Guthrie (6-17, 4.45) pitches Friday night in Toronto when the Orioles begin a three-game series against the Blue Jays.