Jennings also had eight assists as the Pistons broke a four-game losing streak.
Andre Drummond supplied a double-double of 13 points and 17 rebounds.
Rodney Stuckey came off the bench to pop in 13 points for Detroit.
The Magic got 19 points from Victor Oladipo but couldn't avoid a fourth loss in five contests.
Arron Afflalo and Tobias Harris each added 14.