The Magic hung on for the win when the Bucks declined to go for a potential score-tying trey with 5 seconds left and instead passed it inside to Larry Sanders, who missed an easy layup.
Dwight Howard led the way with 28 points and 16 rebounds as the Magic improved to 3-0 against Milwaukee this season and claimed their fifth win in six games overall.
Jameer Nelson contributed 15 points and five assists for the victors.
Ersan Ilyasova led the Bucks with 15 points and 15 rebounds while Sanders finished with 13 points and 12 rebounds.
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