In Romney's defense, he was running against a Kennedy in Massachusetts.
In Santorum's defense, he was running against a Casey in Pennsylvania.
Ted Kennedy was, for better or worse, a national icon. Bob Casey is just the bald son of a famous Governor. Nobody outside of Pennsylvania knows him.
Furthermore, Romney's '94 campaign was almost solely funded by his own pocket. Santorum was the darling of K Street, and even those bucks couldn't keep him from joining George McGovern among the ranks of incumbent Senators who lost by nearly twenty points.