After a dominant first half which saw James Chester, N’Doye and Tom Huddlestone all come close, N’Doye hit the post early in the second half before finally breaking the deadlock for the visitors in the 52nd minute when he bundled home from close range.
Palace had a Yaya Sanogo header disallowed for a foul on Paul McShane, before N’Doye wrapped up the points in injury time by drilling in to the bottom corner past Julian Speroni.
Victory ensured Hull stay a point above the drop zone but in no way eases their relegation fears, with Liverpool, Arsenal, Tottenham and Manchester United still ahead.
The hosts, making two changes from last week’s defeat to West Brom, almost took an early lead when Jason Puncheon’s bending free-kick fell to the feet of Glenn Murray at the far post as Hull failed to clear their lines, but Steve Harper blocked the close range effort.
Palace’s defence struggled to cope with crosses, primarily from Robbie Brady, in to the area, with James Chester heading over from close range when unmarked from a corner.
Three minutes later, Brady’s pin-point cross from the corner of the area was met by N’Doye on the stretch, but the striker couldn’t turn the ball goal-bound from no more than six yards out.
Julian Speroni had to be alert on several occasions during the first half, with the keeper forced in to a fingertip save to flick Tom Huddlestone’s bending effort around the post and later smothering Aluko’s dinked effort.
The visitors had a big penalty appeal turned away when Ahmed Elmohamady’s cross struck the hand of Murray, before squandering another chance to break the deadlock late on in the half when Jake Livermore underhit his attempted lob over Speroni from the edge of the area.
Hull started the second half brightly when N’Doye’s header from Elmohamady’s cross deflected on to the post, eventually taking the lead four minutes later as Brady’s shot ricocheted off Speroni and then winger to fall to N’Doye to tap in.
Eagles boss Pardew sent Yaya Sanogo and fit-again Lee Chung-yong into the fray in a bid to cajole some kind of attacking intent, but the hosts struggled to create clear chances.
Bolasie struck limply at goal rather than square to Sanogo as Palace finally started to threaten, while Arsenal loanee Sanogo headed home late on, only for referee Mark Clattenburg to chalk off the goal for pulling on to Paul McShane.
The away side continued to push for a second, with Elmohamady seeing an effort flash wide and Liam Rosenior rattling the woodwork with a dipping volley from the edge of the area.
As Palace pressed, Hull disposed Lee on the half way and raced clear, with substitute Gaston Ramirez feeding N’Doye, who blasted home from an angle to wrap up a deserved win.
Victory ends a six game winless run for Steve Bruce’s side and moves Hull narrowly clear of the Premier League’s bottom three.
Matt Le Tissier’s Soccer Saturday verdict
Hull were certainly the better team of the two. I thought N’Doye could have walked away with four goals. They dominated in terms of chances created, they looked far more dangerous and thoroughly deserved the three points. Palace don’t look the same team at home then when they are away.
Crystal Palace: Speroni (7), Kelly (5), Delaney (5), Dann (6), Souare (5), McArthur (6), Jedinak (6), Puncheon (6), Zaha (6), Bolasie (5), Murray (6).
Subs: C.Y Lee (5), Sanogo (5), Gayle (6)
Hull City: Harper (7), Huddlestone (6), Chester (7), Brady (8), Livermore (7), McShane (7), Dawson (6), Aluko (7), Elmohamady (6), N’Doye (9), Quinn (8).
Subs: Ramirez (6), Rosenior (6), Bruce (6).
Man of the match: Dame N’Doye