Jennings hit consecutive 3s and Dunleavy scored on three layups as Milwaukee mounted a 21-6 run to cut the deficit to two. It was close the rest of the way, and the lead changed hands 13 times in all until the Bucks made more plays down the stretch to win it.
"We're just getting stops and we're just countering on the offensive end," Jennings said of the late-game execution. "We're just getting easier buckets and we're taking our time more."
Harden played with a wrap on his left knee after he bumped into Ellis in the first half. Ellis scored seven points early in the third quarter to help Milwaukee build a seven-point lead. The Rockets quickly rallied, and Asik completed a three-point play to put Houston ahead 70-68 with five minutes left in the third quarter.
Dunleavy twisted his right ankle in the last minute of the third quarter and hobbled to the locker room. He returned with just under 10 minutes left in the game and the Rockets leading 88-84.
Houston continued to misfire from 3-point range early in the final quarter and Redick's 3-pointer near the six-minute mark put Milwaukee up 99-96. Houston went 7 for 23 from 3-point range, but blamed this loss on its poor defense at the end. The Bucks outscored the Rockets 11-2 over the final three minutes.
"Defense was not very good tonight," Parsons said. "Bad game overall."
NOTES: Bucks C Ekpe Udoh sprained his right ankle in the first quarter and did not return. ... Ellis had six steals and leads the NBA with eight games this season with at least five. ... Rookie Thomas Robinson, acquired in a trade with Sacramento last week, had a basket, a rebound, an assist and three fouls in his Houston debut. ... Asik has 26 double-doubles and 39 games with double-digit rebounds this season.