After John Wall's off-balance floater point lead, Ersan Ilyasova's tip-in with two 118 victory over the Wizards.
Roger Mason Jr. was whistled for traveling on Washington's ensuing possession.
Mike Dunleavy nailed five three-pointers en route to a season-high 28 points off the bench while Ilyasova recorded his fourth double-double in six games with 13 points and 11 rebounds for the Bucks, who snapped a six-game home losing streak. Brandon Jennings had 14 points and 10 assists.
Wall filled the stat sheet with 19 points, 15 assists and five rebounds while Trevor Booker provided a season-high 20 points to go with 11 boards for Washington, which has lost five consecutive contests.
Washington, which trailed by as many as 22 in the second quarter, began the second half on a 15-6 burst to pull within five, 73-68. Maurice Evans knocked down a pair of three-pointers and scored eight points during the spurt.
Evans' layup finally gave the Wizards an 81-79 lead with 4:16 to go in the third, but the Bucks led, 92-89, after three.
It was a tightly contested fourth quarter.
Trevor Booker, who scored six straight Washington points, pulled the Wizards within one, 117-116, with 1:04 to play.
After Jennings missed a trey and turned the ball over on back-to-back possessions, the Wizards regained possession with 12.3 seconds left.
Wall received the pass on Washington's ensuing inbounds and drove down the middle of the floor before letting go of an off-balance floater on the right side of the paint, which went down to give the visitors a 118-117 lead with 6.6 to go.
Following a Bucks timeout, Jennings' runner didn't fall, but Ilyasova was there for the putback, helping the Bucks snap a two-game skid.
The Bucks led, 33-24, after one, and three Mike Dunleavy treys highlighted a 13-0 Bucks run as they took a 55-33 lead midway through the second.
Dunleavy netted 16 points in the frame as Milwaukee took a 67-53 advantage into the locker room.
The Bucks are 8-8 as the host this season...Washington made all 21 of its free-throw attempts while Milwaukee finished 29-of-37 from the charity stripe...Drew Gooden had 15 points and 10 rebounds for Milwaukee.