Racing book a quarter-final spot
The away side raced into a 14-point lead after 12 minutes through tries from French internationals Henry Chavancy and Maxime Machenaud but were pegged back throughout the first half as George Ford kicked three penalties for Leicester.
Leicester's Brendon O'Connor dived over to put the home side in front just after the interval before Machenaud's penalty on 55 minutes gave Racing the advantage again.
Ford and Machenaud then exchanged penalties in the final quarter of the match, before Leicester ultimately fell short despite sustained pressure in the final five minutes.
The win for Racing 92 has meant they qualify for the Champions Cup quarter-finals but will have to wait for Munster Rugby's result against Castres Olympique to determine their opponent.
Pens: Ford 5
For Racing 92:
Tries: Chavancy, Mechanaud
Cons: Machenaud 2
Pens: Machenaud 3
Leicester: 15 Mathew Tait, 14 Nick Malouf, 13 Manu Tuilagi, 12 Matt Toomua, 11 Jonny May, 10 George Ford (captain), 9 Ben Youngs, 8 Sione Kalamafoni, 7 Brendon O’Connor, 6 Mike Williams, 5 Graham Kitchener, 4 Harry Wells, 3 Dan Cole, 2 Tatafu Polota-Nau, 1 Greg Bateman.
Replacements: 16 Tom Youngs, 17 Michele Rizzo, 18 Logovi’i Mulipola, 19 Mike Fitzgerald, 20 Valentino Mapapalangi, 21 Sam Harrison, 22 Joe Ford, 23 Adam Thompstone.
Racing 92: 15 Brice Dulin, 14 Teddy Thomas, 13 Virimi Vakatawa, 12 Henry Chavancy, 11 Joe Rokocoko, 10 Rémi Tales, 9 Maxime Machenaud (captain), 8 Leone Nakarawa, 7 Yannick Nyanga, 6 Wenceslas Lauret, 5 Manuel Carizza, 4 Donnacha Ryan, 3 Ben Tameifuna, 2 Camille Chat, 1 Eddy Ben Arous.
Replacements: 16 Dimitri Szarzewski, 17 Vasil Kakovin, 18 Cedate Gomes Sa, 19 Baptiste Chouzenoux, 20 Boris Palu, 21 Teddy Iribaren, 22 Dan Carter, 23 Louis Dupichot.
Referee: Nigel Owens (Wales)
Assistant referees: Ian Davies (Wales), Gwyn Morris (Wales)
TMO: Neil Hennessy (Wales)