Texas bounced back after having an eight-game winning streak snapped by the Brewers on Tuesday and won for the 14th time in 16 games.
Juan Francisco drove in all the Milwaukee's runs with a pair of homers, one of them a three-run shot in the fourth inning that gave the Brewers a 4-2 lead.
Elvis Andrus came through with a one-out single to drive in one run and Kinsler followed with a single to left that brought home two more.
Axford (5-6) was charged with the loss.
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