Martinez scored on a 38-yard run, threw a 10-yard TD pass to Kyler Reed and set up Brett Maher for the tying and go-ahead field goals. Maher's 41-yarder with 9:41 left gave the Huskers (3-1, 1-0) their first lead in the Big Ten opener.
Danny O'Brien, who replaced Joel Stave, tried to bring back the Badgers (3-2, 0-1) with under 3 minutes to play. But Montee Ball fumbled at midfield on a fourth-and-1, and Martinez took a knee three times to run out the last minute.
Martinez ran for 107 yards and threw for 181 yards and two touchdowns. Stave passed for 214 yards and a touchdown.
