Harris drove to the top of the key and got his 3 to roll in as he was hit by Daniels. But his ensuing free-throw rolled off the rim.
Milwaukee got the rebound, but failed to get off a shot with just 0.5 left.
Magic coach Jacque Vaughn said he wasn't worried about Harris losing confidence after the missed free throw.
"I told him that they earned the right to get to overtime and don't waste the opportunity," Vaughn said. "Overall, guys locked in."
But even before Jennings and Sanders went out, the Magic were having their way as they build as a 14-point lead.
Vucevic scored on several easy touches inside, while Harris found the basket with his jumper and in the paint where Orlando held an eight-point scoring advantage.
The Bucks closed the gap, though, with an 11-4 run to end the half.
Bucks coach Jim Boylan said despite the loss he likes the toughness his team showed after Jennings and Sanders went out.
"We've still got some games left this season," Boylan said. "We're still going to keep at it. The effort tonight was good. Our guys played really, really hard. As long as we do that good things will happen for us."
Notes: According to Elias Sports Bureau, the last time two NBA teammates had at least 30 points and 19 rebounds in the same game was Willis Reed (31 points, 21 rebounds) and Walt Bellamy (32 points, 22 rebounds) for the New York Knicks on March 15, 1967. ... The Magic improved to 1-3 in overtime games this season. ... Bucks F Ersan Ilyasova sat out with an illness. ... Redick said that though Milwaukee has previously expressed an interest in signing him to a new contract after his current one expires this summer, no in-depth conversations have happened yet. "I don't know what the decision is gonna be. Hopefully I have one offer," he said. "There may be one offer, there may be four. You weigh everything, you figure out what's most important. I think for any player sometimes, if the money is so different between offers that you go with the money and you secure yourself and your family's financial future. But there's other factors in play for sure."
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