Jones' foul shot broke a 99-99 tie, and Horford, after being fouled by Ersan Ilyasova, tacked on a pair of free throws with 20 seconds remaining.
Horford (24 points, seven rebounds, six assists) and Josh Smith (23 points, nine boards) led the way in the win.
Ellis contributed 20 points while Ilyasova finished with 19 and 10 boards as the Bucks tumbled to their sixth loss in eight games.
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