The Brewers ended a three-game skid and handed the Twins their third straight loss.
Matt Capps (1-4) was on the mound for his first inning of work when Corey Hart opened the Milwaukee ninth with a double. Capps retired the next two batters, but Maldonado came through with a homer to left-center on a 2-2 pitch.
John Axford then worked a 1-2-3 bottom half of the inning for his 11th save. Axford had blown saves the two previous nights against Kansas City.
Ryan Braun gave the Brewers a 3-2 lead in the sixth with a three-run homer, but Trevor Plouffe tied it in the bottom half of the inning with his 14th blast of the year.
Kameron Loe (3-2) worked 1 2/3 scoreless innings to get the victory.