Jennings distributed 12 assists and Smith supplied 10 rebounds, eight assists and four steals for the Pistons, who broke open a close game in the fourth quarter for a second straight win.
Andre Drummond had a double-double of 18 points and 15 rebounds.
Randy Foye paced the Nuggets with 25 points.
J.J. Hickson totaled 15 points and 16 rebounds as Denver fell to the Pistons for the first time in seven meetings.
Celebrity Families of 2014 [PHOTOS]