Dampier missed the previous 12 games with a dislocated right middle finger. Haywood sat out two games with lower back tightness.
Dallas played long stretches of zone defense and used small forward Shawn Marion at center while its two big men were sidelined.
The Mavericks ruled guard Jose Juan Barea out with an injured left ankle sustained in Monday night's 113-93 victory at Minnesota. Dallas coach Rick Carlisle doesn't expect Barea's injury to be long-term.
Dallas remains without No. 2 scorer Jason Terry, who missed his fourth consecutive game after undergoing surgery to repair facial injuries.
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