The Pacers had not won in the regular season at Philips Arena since Dec. 22, 2006.
"I thought our resolve took over," West said. "We were really precise with our movement and what we wanted to do. And we made plays when we needed to make plays."
Ian Mahinmi gave Indiana its biggest lead of the game with a tip-in that made it 73-57 with 8:10 left.
Pacers guard Lance Stephenson hit the floor hard on a layup at the 7:56 mark of the third, falling over Millsap in the lane and landing on his left shoulder and hip.
Stephenson then converted the three-point play to make it 55-47, but he sat out the last 16 minutes.
George stole the ball from rookie point guard Dennis Schroder late in the fourth and scored a fast-break layup to make it 82-74.
"Our guys buckled down on the defensive end," Vogel said. "(Atlanta) made a few shots in the last minute or two, but for the most part we held a pretty explosive team down to 85 points. That's a pretty good effort."
NOTES: Indiana improved to 23-0 when holding opponents under 90 points. ... The Pacers are 10-3 since the loss in Atlanta on Jan. 8. ... Korver extended his NBA record to 116 consecutive games with a 3-pointer. Korver began his streak last season in Atlanta's second game — a win at Oklahoma City. ... The Pacers are 15-8 on the road, best in the Eastern Conference.