Jeff Teague had 20 points and seven assists for Atlanta, which had lost five of seven. Al Horford scored 16, Kent Bazemore had 14, Kyle Korver added 13 and Mike Muscala 11.
Millsap was 11 of 13 from the free throw line. Teague made all six of his foul shots.
Mike Conley led Memphis with 16 points but was 4 of 13 from the field. Matt Barnes scored 15, while Courtney Lee and Vince Carter added 14 apiece off the bench. It was a season high for Carter.
Jeff Green had 11 points for the Grizzlies, outscored 63-43 in the second half.
