Ella Burns and Jemima Adams Verling crossed for the visitors in a tight first half which ended 12-12, before Emily Foley, Chisom Ugwueru and Lucia Linn added further tries after the break to seal Ireland’s victory.
Amy Williams, Sian Jones and Gwennan Hopkins scored for Wales, who finish with one win from their three matches.
The hosts started on the front foot and a brilliant box-kick from scrum-half Sian Jones forced Ireland deep inside their own 22.
When the resulting lineout wasn’t straight, Wales were able to set up camp on the Irish line and they got their reward when Hanna Marshall’s excellent pass was perfect for the onrushing Amy Williams to finish in the corner.
Ireland hit back quickly, Ella Burns crashing over and Ellie O’Sullivan-Sexton adding the extras to nudge them into the lead.
The visitors then lost Linn to the sin-bin for a deliberate knock-on and Wales went back in front just after the half-hour mark. Flanker Lucy Isaac set up the score with a fantastic break, timing her pass superbly for Jones to finish the job.
Wales were unable to hold their advantage until the break, however, after Ireland seized on a sloppy pass when the hosts were trying to play out from their own 22. Katie Corrigan made the initial yards and Adams Verling was on hand to power over and level things up.
Ireland carried that momentum into the second half and went in front when Emily Foley did well to gather a pass that was slightly behind her, step inside and get the ball down.
The conversion was missed and Ireland again lost a player to the sin-bin for a deliberate knock-on, scrum-half Aiobhe Kelly this time the guilty party.
Wales took immediate advantage, a well-worked move at the lineout leading to captain Hopkins charging over in the 51st minute.
The conversion was missed, keeping the scores tied at 17-17, and Wales then had to dig deep to withstand a spell of Irish pressure.
Foley spilled a crossfield kick and Roisin Maher was held up over the line as the women in green earned a string of penalties in dangerous positions.
They were unable to make the most of those opportunities but did go back in front with 11 minutes to play as two replacements linked up to devastating effect.
Siofra Hession picked a great line following neat hands before offloading to Chisom Ugwueru to jubilantly cross in the corner. O’Sullivan-Sexton nailed the tricky touchline conversion to give her side breathing space.
Another excellent move finished the job, an inside pass setting Corrigan away before the winger released her captain Linn, who outpaced the final defender and gleefully dotted down under the posts.
Wales did not go down without a fight and came close to having the final word but replacement Chiara Pearce was held up over the line as Ireland held on.