Brandon Jennings, signed to a 10-day contract by Milwaukee on Saturday, finished two rebounds short of a triple-double with 16 points and 12 assists. Eric Bledsoe added 14 points, including a trio of baskets to stem a fourth-quarter Memphis rally.
Marc Gasol led the Grizzlies with 17 points, while Jarell Martin, Dillon Brooks and Ben McLemore scored 16 apiece.
Memphis, which trailed by as many as 19 in the third quarter, used its bench to push back into the game in the fourth. The reserves crafted a 14-3 run to pull within 97-91 with 6:34 left.
Bledsoe scored six of the Bucks' next eight points, then added an assist to Antetokounmpo, running the lead back to 12 with 4:09 left. That was enough of a buffer for the Bucks to claim their second straight win.
Jennings came in firing and providing a fast pace for the Bucks. He scored 11 points before halftime and also dished out nine assists, helping Milwaukee to a 64-50 lead at intermission.
Middleton had 15 points in the half to lead Bucks scorers.