Jennings hit half of his 14 shots from the field and was 9-of-10 from the free-throw line for the Bucks, who evened their record to 1-1 in their home opener.
Stephen Jackson contributed 16 points to the Bucks' effort and Jon Leuer scored 14 off the bench.
Kevin Love led winless Minnesota with 31 points and 20 rebounds. Love hit six field goals and was 19-for-24 from the free-throw line.
Minnesota made a bid to steal the win with a late run that cut Milwaukee's lead to 94-92 with 1:41 to play on a jumper by Michael Beasley off one of Ricky Rubio's four assists, but Love's 3-point attempt with 2.9 to play missed the mark.