Atlanta faced a 39-29 deficit after the first quarter, but trimmed the deficit to two points by halftime.
Milwaukee led, 83-76, with 3:04 remaining in the third, but Atlanta used a 13-3 run to close out the quarter with an 89-86 advantage.
Salim Stoudamire scored 21 points, including 7 of 11 three point attempts; Tyronn Lue had 16 points and nine assists; Anthony Johnson had 13 points and six assists; and Shelden Williams added 12 points and 16 rebounds for the Hawks, who snapped a seven-game losing streak.
Earl Boykins led Milwaukee with 36 points and nine assists.
Charlie Bell scored 28 points; and Ruben Patterson had 19 points and 11 rebounds for the Bucks, who have dropped eight of nine.