His fadeaway jumper from 18 feet bounced off the rim at the buzzer.
"John (Salmons) played it good and Mikki (Moore) came over the give him some help and fortunately for us, he came up short."
After a Lakers timeout, Bryant took the inbounds pass, try to drive, ran into a double-team roadblock and had to pull up and shoot.
Sacramento's Ron Artest complimented his teammates' play and said, 'Wow, we just stepped up against the good team. It's unfortunate we can't step up against the bad teams."
The Kings were coming off a 111-103 loss to Minnesota on Friday, becoming only the third team this season to lose a home game to the Timberwolves.
Udrih finished with 25 points and 10 assists for Sacramento, winning for just the second time in nine games in a stretch that included a defeat by the Lakers in Sacramento on Tuesday. Martin added 21 points and Artest had 17.
Bryant scored 26, but had just six points on 1-of-7 shooting in the second half as the Lakers lost only their second in 15 games.
Bryant said the Kings double-teamed him.
"I'm OK. I'm moving on," he said. "We'll make adjustments offensively."
The final seconds weren't necessarily the story of the game, Bryant said.
"I think we lost this one from the onset -- coming out with the right sense of purpose and execution," he said. "I think it's a good wakeup call for us."
Both teams featured balanced scoring and not much defense, with the exception of the Kings' pressure on Bryant in the second half.
Gasol's layup with 15 seconds left gave the Lakers a 113-112 lead, but Vujacic fouled Udrih and he calmly sank both free throws.
Los Angeles, which trailed by as many as 13 early in the third quarter, chipped away at the lead and finally tied it at 100 on Gasol's running jumper midway through the fourth quarter. The Lakers' lone lead in the second half came on his layup with 15 seconds to play.
Vujacic finished with 15 points, including going 3-of-4 from 3-point range. He hit several shots down the stretch to keep the Lakers close.
Down 86-75 midway through the third quarter, Los Angeles closed the gap when Sacramento went a stretch of 4:18 without scoring. Derek Fisher's jumper narrowed the gap to 86-85 with 2:53 left in the period.
Garcia's 3-pointer four minutes into the second quarter began a 17-5 run by the Kings that ended with another 3 by Garcia 4:06 before halftime and gave Sacramento a 58-45 lead.
Martin, coming off a career-high 48-point performance in a 111-103 loss to Minnesota on Friday night, had 17 points on 5-of-7 shooting to help the Kings open their 71-60 halftime lead over the Lakers.
Artest, back after missing two games with a sore left foot, had 13 points by the break and Udrih had 12.
Bryant scored 20 in the first half, but just five as the Lakers fell behind in the second quarter.
- The Kings won for the sixth time in their last 11 games on the Lakers' court.
- The Lakers beat the Kings 117-105 in Sacramento last Tuesday, when Bryant scored 17 of his 34 points in the fourth quarter.