Boykins had all of his points in the first half, then Jennings scored 14 in the third quarter as Milwaukee enjoyed its second blowout in two days, thanks to 55.1 percent shooting.
The Bucks, who won 95-76 on Tuesday at Washington, have won back-to-back games for the first time since Jan. 28-29.
Samardo Samuels scored 11 of his 15 points in the first quarter for Cleveland, which lost for the fifth time in six games. The Cavaliers, 4-28 on the road, also 13 points from Daniel Gibson.
Baron Davis, Cleveland's leading scorer since being traded to the Cavaliers, missed the game due to the death of his grandmother.
After shooting 60.5 percent in the first half for a 62-49 lead at the break, Milwaukee extended its lead by opening the third quarter with a 14-4 run.
Jennings contributed 10 points during the stretch, and his second 3-pointer of the run gave his team its largest lead, 76-53, with 6:22 left.
Milwaukee took control by shooting 70 percent (14 of 20) and scoring 39 points in the second quarter. Boykins made all six of his shots in the period, and he started and capped a 17-2 run by the Bucks.
His jump shot gave Milwaukee a 38-35 lead with 6:54 remaining and his layup extended the advantage to 53-37 with 3:26 to play.
A 3-pointer by John Salmons gave Milwaukee a 58-41 lead, its biggest of the half, with 2:11 left.
Notes: Cleveland won the opening tip, but Anthony Parker was called for an 8-second violation after slight pressure from Salmons. The Bucks' 39 second-quarter points and 62 first-half points were both two points shy of equaling season highs. Milwaukee's Corey Maggette missed his second game in a row with a sore right knee and Ersan Ilyasova has not played in the last six games due to a concussion. Cleveland's Luke Harangody missed his second consecutive game with a right hip pointer. This was the Cavaliers' first visit to Milwaukee this season and their second road game since Feb. 7. The Bucks are 16-16 at home.