Indiana increased the lead to 102-94 on two free throws by Stephenson and one by George before Green finished the scoring with a three-point play.
The Celtics scored nine of the last 11 points of the third quarter and took a 78-76 lead at the buzzer when Humphries dunked after rebounding a missed shot by Sullinger.
Trailing 74-69, Humphries began the comeback with a 3-pointer on a layup and a free throw. Green and Humphries made jumpers, giving Boston a 76-74 lead with 3:28 left in the period. David West then tied the game with a foul-line jumper before Humphries' quarter-ending dunk.
Indiana used an eight-point run to take a 51-41 lead with three minutes left in the second quarter. Luis Scola started the surge with a 13-footer, Turner followed with two jumpers and Roy Hibbert hit two free throws.
"Evan Turner gave us a big lift throughout the whole game," Vogel said, "but, in particular, down the stretch."
The Pacers led 55-45 before Chris Johnson's 3-pointer cut the lead to 55-48 at halftime. The Celtics had a chance to draw closer, but Hibbert blocked Rondo's shot with 29 seconds remaining.
NOTES: Pacers guard George Hill missed the game after bruising his left shoulder when he fell in Thursday night's game. ... Celtics G Chris Babb played his first game after signing a 10-day contract. ... Celtics swingman Gerald Wallace will miss the rest of the season with knee and ankle injuries. ... Indiana returns home to face Utah on Sunday night. Boston is off until Wednesday night when it hosts Golden State. ... Celtics F Sullinger returned after missing three games with a concussion.