Escobar was called in to pinch hit with one out after Eric Hicks doubled and moved to third on a sacrifice bunt by Pedro Florimon.
Brian Duensing closed the game out for his first career save. Ryan Pressly (2-0) chalked up the win in relief.
Jean Segura tied a Brewers franchise record with six hits and also drove in a run in the ninth inning that sent the game into extra innings. The contest lasted 4 hours, 43 minutes.
Burke Badenhop (0-2) was the last of eight pitchers to work for the Brewers and took the loss. Milwaukee has lost five in a row.