Jennings then missed a running jumper with 10 seconds left, but the ball went off Varejao out of bounds with a tenth of a second left on the shot clock.
Dunleavy inbounded to Jennings who scored on a quick jumper but referee Kevin Fehr waived it off as a shot clock violation. The call was confirmed during video replay and Cleveland took possession with 9.2 seconds to go.
Irving then used a pick by Varejao to get around Jennings and lifted a high shot over Ilyasova to tie the score a 102 with seven-tenths of a second to go.
Jennings scored 13 points and had 13 assists. Larry Sanders had a career-high 17 points before fouling out late in the game.
Milwaukee coach Scott Skiles said during the preseason he wanted Dunleavy coming off the bench to ensure some scoring when the second unit was playing. The veteran forward made 10 of 12 shots, including six of seven 3-pointers, in 35 minutes.
Milwaukee beefed up its roster during the off-season by drafting John Henson, and acquiring Samuel Dalembert and Joel Przybilla to bolster its inside defense. But with Henson out due to injury and Dalembert and Przybilla playing limited minutes, Varejao was able to dominate in the post, scoring 20 points on 10 of 13 shooting while grabbing 17 rebounds.
Notes: Przybilla made his season debut in the second quarter and was whistled for a technical foul for arguing after playing only 2 minutes. . Alonzo Gee scored nine points in the first 4:34 of the game. . North Carolina coach Roy Williams was sitting courtside at the game. Cleveland's Zeller and the Bucks' Henson both attended UNC. ... Henson is out with a sprained left knee, but may return Wednesday when the Bucks host Memphis.