Salmons, acquired Thursday from the Chicago Bulls, connected on a trey with 16 seconds left in the game to provide the winning margin and led the Bucks with 19 points coming off the bench.
Ersan Ilyasova netted 16 points and pulled down 12 rebounds off the bench while Carlos Delfino chipped in 16 points and Jerry Stackhouse and Andrew Bogut each registered 12 points in the win, in which Milwaukee shot only 38.3 percent from the floor.
Detroit, losing for the third time in four games, got 29 points from Richard Hamilton. Rodney Stuckey helped out with 13 points and five assists while Tayshaun Prince and Jonas Jerebko each finished with 12 in the defeat.
Notable deaths of 2014 [PHOTOS]
LeBron James reveals his new Nike shoes