Warriors guard Stephen Curry dished the ball to forward Jonas Jerebko in the corner. Jerebko drove to the hoop and spotted a wide-open Livingston cutting to the basket.
The forward passed to Livingston, who elevated over Rockets center Clint Capela for the huge slam.
The Warriors and Rockets were locked in a 57-57 tie at halftime. Livingston, who played eight minutes in the first half due to Curry's foul troubles, had six points, two rebounds and an assist.
Golden State, playing without star forward Kevin Durant for the remainder of the seven-game series, holds a 3-2 lead over Houston.