The Cavaliers have won three in a row for the first time this season and have captured five out of six.
Orlando had a three-point lead heading into the fourth quarter, but suffered through a scoring drought of almost three minutes in the period while the Cavaliers were rallying.
Irving made 12-of-24 from the field and Cleveland shot 48 percent as a team. Dion Waiters added 21 points for the Cavaliers.
Cleveland overcame a 26-point performance by Victor Oladipo, which equaled a career best.
The game ended on a sour note when Orlando's Andrew Nicholson knocked Cleveland's Anderson Varejao to the floor with 10 seconds to play. Waiters came to Varejao's assistance and a technical foul was called on Nicholson. He was also kicked out of the game, which could lead to a fine and suspension.