The match went the full five minutes before the Cuban produced a yuko to edge the contest, meaning he took the title in the most dramatic of circumstances.
Defeat meant Ingram took silver to add to his bronze medal from Beijing 2008 four years ago.
Elsewhere, Republic of Korea's Choi Gwang-Geun won the -100kg category, defeating USA athlete Myles Porter in the final.
Japan's Kento Masaki won the men's +100kg category with an ippon over Wang Song.
Chinese judoka Yuan Yanping beat Turkey's Nazan Akin in the women's +70kg medal match, while Maria del Carmen Herrera Gomez of Spain confirmed her status as one of the sport's leading names as she won her third successive Paralympic title.
She beat Tatiana Savostyanova of Russia in the women's -70kg final, with Zhou Qian of China and Nikolett Szabo of Hungary taking the two bronze medals on offer.