The lead changed hands six times before Otley, desperately in need of the points in the quest to avoid relegation, took over in the final quarter, scoring two tries.
Such was the ferocity of the tackling it was 24 minutes before fly-half Tom Barrett put Wharfedale ahead with a penalty only for Otley to strike straight back, full-back Christian Georgiou running back a clearing kick from the restart and chipping the advancing defence before regathering and putting in centre Joel Gill for a try.
Barrett and Georgiou struck penalties and just before the break, home fly-half Joe Barker had a kick charged down and it bounced for Wharfedale to gather and set up an attack, Barrett getting the touchdown.
Six minutes after the break, Otley regained the lead when Georgiou found a way through the middle and strong runs from both locks, Joe Quinn and Dominic Barrow, enabled No 6 Richard Beck to cross.
Georgiou’s penalty was followed by one from Wharfedale replacement scrum-half Tom Davidson to retain a two-point difference but Otley were beginning to take the upper hand and when they drove back the visitors at a scrum in their 22, replacement No 8 Ollie Stedman strode over.
Wharfedale could only stand and watch as Barker added a drop-goal and the bonus point came in the final minute when Quinn went in at the corner for Georgiou to produce a fine conversion.