The Twins survived both a blown save by Joe Nathan in the ninth and a scare in the bottom of the 10th to hand the Royals their second straight loss.
Casilla singled on an 0-2 pitch with one away in the 10th and, after Denard Span flew out, Cabrera tripled to right off Joakim Soria (3-1).
Nathan (2-1) gave up a two-out, score-tying home run to pinch-hitter Brayan Pena in the ninth. Nathan, however, got the win when the Twins scored in the 10th.
Nathan stayed on the mound in the 10th and gave up two-out singles to Billy Butler and Willie Bloomquist. Alberto Callaspo, however, flew out after fouling off seven pitches and Mark Teahen lined out to right to end the game.
Minnesota has won three out of four.
Copyright 2009 by United Press International.