Malkin gave Pittsburgh a 6-5 lead at 14:30 of the third period with a one-timer on the power play before Verhaeghe wrapped a shot inside the right post to tie it 6-6 at 17:28 with his NHL-career high 25th goal.
"I think we battled back all game," Verhaeghe said. "It was really eventful. We kind of stuck with being even-keeled the whole way, trusted the way we played. I liked the way we played. Had some unfortunate bounces."
Reinhart put the Panthers ahead 1-0 at 6:42 of the first period, using his skate to collect a pass from Ekblad for a wrist shot near the left post.
Tkachuk made it 2-0 on the power play at 8:08, tapping in a loose puck off a shot from Brandon Montour.
Rickard Rakell cut it to 2-1 at 10:56, chipping in a shot from Letang deflected by Malkin.
Heinen tied it 2-2 at 11:56 after tapping in a rebound off a one-timer from Ryan Poehling to end his 34-game goal drought.
Letang gave the Penguins a 3-2 lead at 18:14, redirecting a shot from Brian Dumoulin.
Verhaeghe tied it 3-3 at 19:19, using one hand to poke in a pass from Ekblad on a breakaway after DeSmith left the crease.
Ekblad put Florida back in front 4-3 at 10:34 of the second period with a short-handed goal on a snap shot from the right circle.