Jennings connected on 13-of-22 shots, distributed six assists and grabbed five rebounds for Milwaukee, which improved to 5-1 against Central Division opponents.
Monta Ellis supplied 19 points and six assists in the Bucks' fifth victory in six games overall.
George Hill netted 18 points but it wasn't enough to prevent the Pacers' first loss in four contests.
Susan Sarandon: I was stoned at almost every awards show
Megyn Kelly: Santa Claus and Jesus are both white men