Worse yet for the Tigers, Upton had not crossed home plate before the double play and his run was wiped out.
Royals left-hander Danny Duffy pitched 6 1/3 innings of one-run ball, giving up six hits while walking one and striking out four.
The Royals pulled within one game of the first-place Indians in the American League Central, pending the outcome of the Indians-Angels game.
Tigers starter Michael Fulmer went eight solid innings, giving up eight hits and three runs while walking none and striking out six.
MOMENTS THAT MATTERED
First-pitch Whit: Royals leadoff hitter Whit Merrifield gave the Royals a 1-0 lead when he hit the first pitch of the game from Fulmer, a 95-mph fastball, into the left-field seats for his 11th homer.