Millsap scored 14 points during a 24-5 run that bridged the end of the second quarter and the start of the third and put Atlanta ahead 73-47 with 8:24 left in the quarter. The margin grew to 96-64 heading into the fourth and Atlanta beat Milwaukee for the eighth time in their last nine games.
Reserve Louis Williams had 18 points for the Hawks.
Brandon Knight scored 27 points for the Bucks, who lost for the 11th time in their last 12 games. Ersan Ilyasova and Khris Middleton added 11 apiece.
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