With the Bucks up four late, Kyrie Irving cut Milwaukee's lead to two, 102-100, with two free throws with 33.6 seconds left in the game. Jennings missed an 8-foot jumper on the ensuing Milwaukee possession, but the shot clock did not reset, which gave the Cavaliers the ball back with 8.2 seconds remaining in the game.
Irving answered with a layup to tie the game at 102-102 with 0.7 seconds remaining in regulation before Jennings' game-winning jumper.
Jennings had 13 points and 13 assists in the game. The Bucks were led in scoring by Mike Dunleavy, who had 29 points and 12 rebounds on 10-of-12 shooting from the field.
Irving finished the game with 27 points, seven assists and four rebounds on 10-of-18 shooting from the field. Anderson Varejao added 20 points and 17 rebounds.