James Harden scored 17 for Houston, which never trailed in the contest.
Terrence Jones provided 14 points with 12 rebounds and Jeremy Lin helped out with 16 points.
Donatas Motiejunas (12 points) and Patrick Beverley (11) also finished in double figures.
The Nuggets saw their three-game winning streak snapped despite 28 points and 17 assists from Ty Lawson.
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