The successful penalty from Jones put Scarlets to within five points with seven minutes remaining, but Glasgow held on for a win that leaves them a point behind Ospreys and one ahead of Leinster.
Cameroon, who won 2-0 away in Gabon last Saturday, leapfrogged their opponents by a point to move into top spot on seven points with two rounds of qualifiers remaining, while Togo have five and Morocco three.