Urso intercepted a pass about 15 yards outside the box and then passed it to Christopher Mueller on the right wing. Mueller quickly returned the ball to Urso cutting into the middle of the box where he fired a right-footed shot inside the right post for his second goal of the season.
Orlando City, which won the first meeting with the Reds, 1-0, on May 22 on a goal by Tesho Akindele, needed only 50 seconds to take a 1-0 lead on a goal by Akindele who took a through pass from Mauricio Pereya in the middle of the box and then fired a right-footed shot past Westberg.
The Lions made it 2-0 in the eighth minute on a header by Nani from the center of the box off a crossing pass from Akindele. It was a team-best fourth goal of the season for Nani and came after Silvester van der Water stole the ball from Westberg on the right side of the box and passed the ball to Akindele.
Toronto cut it to 2-1 in the 10th minute when Akinola headed in a rebound of a Richie Laryea close-in shot from the right side of the box.
TFC then tied it in the 39th minute when Osorio booted in a crossing pass from Alejandro Pozuelo from the top of six-yard box.
The Reds had a chance to take the lead in the 77th minute but Pozuelo's left-footed shot from outside the box bounced straight off the left post.
Urso then scored the game-winner seven minutes later, the sixth of his career with the Lions.