Allen Iverson scored 28 for the Nuggets, who had their lowest point total of the season to date and lost their second straight game.
Earl Boykins had 20 points off the bench and Marcus Camby had a double-double with 13 points and 13 rebounds.
Dallas Coach Avery Johnson got his 100th NBA victory -- getting there faster than any other coach in league history.
The Nuggets led early in the fourth quarter, but the Mavericks methodically closed the gap -- pulling even with 5:15 left to play and then going ahead to stay on a pair of Erick Dampier free throws that made it 85-82 with 1:38 left to play.
The Mavericks out-rebounded the Nuggets, 49-37.