Greg Monroe contributed 18 points and 17 rebounds for the Pistons, who had three players with double-doubles and five score 15 or more points.
Ersan Ilyasov scored a season high 22 points and had 10 rebounds off the bench to lead the Bucks, who have lost 13 of 14. Khris Middleton added 14 points for Milwaukee.
Pistons point guard Brandon Jennings had 17 points and 11 assists in his return to Milwaukee. He spent four seasons with the Bucks after the team drafted him 10th overall in 2009 out of Oak Hill Academy. Detroit acquired Jennings in an offseason deal for Brandon Knight and Middleton.
The sparse crowd at the BMO Harris Bradley Center booed loudly when Jennings was introduced before the game and each time he touched the ball early in the game. Jennings missed all four of his shots from the field in the first quarter but had two early assists that led to dunks.
Jennings didn't score until sinking a 3-pointer from the top of the key with 3:03 remaining in the second quarter. He finished 4 of 16 from the field.
The Pistons trailed by five at the half, but used a 16-0 run midway through the third quarter to take a 10-point lead. Monroe had eight points during the burst. The Pistons outscored the Bucks 35-17 in the quarter to gain control, taking a 13-point lead into the fourth.
The Bucks got within five points on a 3 by Knight with 1:36 remaining. Jennings hit two free throws to extend the lead to seven. A layup by Josh Smith with just under a minute left extended the lead to nine. Middleton's desperation 3 got the Bucks back within six before Jennings added two more free throws to secure the victory.
The Bucks took their first lead with 7:32 left in the second quarter on Ersan Ilyasova's 3-pointer from the wing. Ekpe Udoh had five blocked shots in the quarter for Milwaukee, tying his career high. The Bucks used a 15-1 run to open a 38-31 lead and held at 50-45 advantage at halftime. Detroit made just 33 percent of its shots over the first two quarters.
Ilyasova had 16 first-half points, along with six rebounds. Drummond led Detroit with 12 points and 11 rebounds in the half.
The Pistons were coming off a 107-97 win at Miami on Tuesday and jumped out to a 26-19 lead after the first quarter. Drummond paced the Pistons with nine points and six rebounds.
NOTES: Police issued municipal citations to Bucks center Larry Sanders for disorderly conduct and assault and battery stemming from a fight last month at a downtown Milwaukee nightclub. Bucks coach Larry Drew had no comment when asked about the citations. Sanders had surgery on his right thumb on Nov. 11 after getting hurt during the scrum. He initially was expected to be out four to six weeks. Drew on Wednesday had no update on a timetable for Sanders' return. . Pistons guard Chauncey Billups remained sidelined with left knee tendinitis and guard Will Bynum was inactive with an adductor strain.