Khris Middleton added 17 points and Giannis Antetokounmpo had 16 for the Bucks. They have won two straight after breaking a six-game losing streak.
George Hill missed a potential tying three-point shot in the closing seconds for Indiana.
C.J. Miles scored 26 points, Hill added 24 and C.J. Watson had 23 for the Pacers.
Indiana was without forward David West because of an allergic reaction.
Milwaukee jumped on Indiana early and led by double-digits for most of the game until the Pacers began to chip away in the fourth quarter, thanks in large part to a flurry of three-pointers by Hill.