It was the Pistons' third straight win away from home. Detroit's four-game road trip will conclude on Saturday against Chicago.
Drummond scored 24 points and grabbed 19 rebounds while playing a large role in the Pistons' second-half comeback. Detroit outscored Milwaukee 35-17 in the third period after trailing by five at the break.
Greg Monroe added 18 points and 17 rebounds for the Pistons and both Josh Smith and Brandon Jennings had 17 points. Drummond has had at least 18 rebounds in three straight games, the first NBA player to do so this season.
The Bucks, who have won just three times in 18 games this year, were led by Ersan Ilyasova with 22 points and 10 rebounds off the bench.
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