The Nuggets completed a 4-0 homestand by overcoming a 13-point deficit in the second quarter.
Denver held only a one-point lead with 7:45 to go before closing out the game on a 24-11 run.
Lawson made 7-of-9 shots from the field and all five of his foul shots in leading a balanced Denver attack. Danilo Gallinari and J.R. Smith both had 17 points for the Nuggets and Al Harrington scored 15.
It was Denver's 10th straight home win and the Nuggets moved 2 1/2 games in front of Portland and New Orleans for fifth place in the Western Conference.
Sacramento had captured its previous four games, its longest winning streak of the season. Marcus Thornton led the Kings with 27 points.