Rondo turned in his best performance since recovering from a torn knee ligament as the Celtics ended a four-game losing streak.
The Boston point guard also came up big defensively, making a steal on the Magic's Victor Oladipo with 17.1 seconds left to help ice the victory.
Orlando dropped an 11th straight on the road despite 18 points from Arron Afflalo.
Glen Davis put in 15 and Nikola Vucevic had a double-double of 14 and 11 rebounds.
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