Carmelo Anthony added 16 points for the Nuggets, who never trailed. Denver led 55-50 early in the third quarter before going on a 15-0 run.
Charlie Bell led Milwaukee with 17 points, all in the first half.
Denver forward Kenyon Martin played in his first game since Nov. 3, 2006, after surgical repairs on his right knee. He started and finished with 11 points and five rebounds.
"It just felt good to be back out there on the court with the team, man. Just get back out there, and when you get up and down the court you try not to be too excited because it's still the preseason," Martin said. "But you still feel good. Those guys know what I can do. I played with those guys before so they know I can do. It just feels good to be a part of it."
Bucks rookie first-round draft choice Yi Jianlian of China finished with nine points and seven rebounds in 20 minutes.
Yi played the entire first quarter and saw only eight minutes of action the rest of the way, despite the crowd's chants of "We want Yi!"
Although Yi has showed flashes of his talent and has a good touch, he looks much more comfortable on the perimeter than in the paint and he acknowledged that he still needs to get stronger with the ball.
"Inside is my weak point. I need to protect the ball better and get stronger so we can play better inside," Yi said through his translator, Yi Wan.