"It's important we keep the attitude and intensity. I think we got a little comfortable, but we can't let that happen," Jennings said. "No matter what their record is, that's an NBA team over there.
At 8-33, the Bucks have the worst record in the NBA, but received a sorely needed confidence boost at the midpoint of the season.
"I told our guys after the game, it's nice to get off that losing streak. Let's enjoy the moment, remember what this feels like tomorrow," Drew said. "By no stretch of the imagination is losing fun."
Knight, who was traded for Jennings, also had nine assists and six rebounds, while Ersan Ilyasova added 12 points.
Greg Monroe added 18 points for Detroit and Stuckey finished 23.
The last few minutes found Jennings and Knight guarding each other on the perimeter.
Jennings blocked Knight with about 7 seconds left, but Smith missed the two foul shots at the other end.
The Pistons had one last chance after a contested possession was ruled in favor of Detroit. Stuckey's 3-point attempt from the corner sailed harmlessly into the side of the glass.
"We made a few bad decisions on both ends of the floor, but I gave up a lot of offensive rebounds so I have to slap myself on the wrist for that," said center Andre Drummond, who finished with 11 points and 12 rebounds.
A game after going scoreless against the Clippers, Jennings shot 11 of 23 against the team that drafted him in the first round in 2009. Facing off against Knight at one point in the third quarter, Jennings hit a deep 3 to give Detroit a 76-63 lead, then turned to the crowd and pointed his index finger to his forehead.
The Bucks started chipping away. With the shot clock winding down at the end of the third quarter, Butler hit a long 3 to get Milwaukee within 84-81.
"That was definitely a momentum-changer. If we get that rebound and secure that ball, we go into the fourth up seven or eight points," Pistons coach Maurice Cheeks said.
Just another highlight from a memorable game for Butler. His play off the bench was especially important given the Bucks were without starting center Larry Sanders and veteran guard O.J. Mayo due to illness.
As for Butler's bobblehead doll, the likeness was close enough.
"It looks like my cousin," he said, "but it'll do, we are related."
The Pistons, the NBA's top offensive rebounding team coming into the night at 14.4 per game, were outrebounded on the offensive glass, 12-9 ... Milwaukee G Luke Ridnour wore a sleeve around the right wrist he sprained on Saturday against the Spurs. ... Milwaukee used its 19th different starting lineup in its 41st game this season.
Follow Genaro Armas at http://twitter.com/GArmasAP
Copyright by STATS LLC and The Associated Press
MILWAUKEE, WI - January 22: Giannis Antetokounmpo #34 of the Milwaukee Bucks looks to pass against Kentavious...
MVP: On the night when the Bucks distributed his bobblehead, Caron Butler fittingly scored a team-high 30 points. Butler converted only 2-of-10 3-point shots, but did connect on 10 of his 11 two-point attempts.
X factor: Searching for size to counteract Detroit's front line late in the game, Larry Drew turned to 7-foot-1 Miroslav Raduljica for all but 2 seconds of the fourth quarter. Raduljica finished the game with 8 points, 8 rebounds, 2 assists and 2 steals.
Defining moment: Rodney Stuckey (23 points) spent most of the game ambushing the Bucks from the elbows. But with 1:30 remaining, ex-Piston Khris Middleton blocked Stuckey twice to preserve a 104-101 lead that eventually became the final score.