Jennings dished off 10 assists and Henson came off the bench to add six rebounds for the Bucks, who stormed back after falling behind 34-16 in the first quarter.
Milwaukee pulled away down the stretch with the help of Monta Ellis, who netted 17 points as the squad rebounded from Friday's loss to Detroit.
DeMar DeRozan led the Raptors with 23 points and five boards while Amir Johnson provided 22 and 14 for Toronto.
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