Andrelton Simmons singled home Justin Upton with the winning run in the bottom of the ninth, sending Atlanta past Milwaukee, 3-2, in the second edition of a three-game set.
Upton began the frame with a base hit off Donovan Hand (0-5), then went to second on Scooter Gennett's fielding error on an Evan Gattis grounder which put two on with one out. Brian McCann popped out to third, then Simmons' liner to right center sailed far enough to plate the game-ending run.
"I struggled a little bit with runners in scoring position earlier this year," said Simmons, who was doused with dirt and water by his jubilant teammates. "I've been learning, took me a while, but I have a better idea on what I need to do in those situations."
Craig Kimbrel (4-3) tossed a scoreless top of the ninth for Atlanta, which is still vying for the best record in the National League.
The Braves (93-64) remained one-half game ahead of St. Louis (93-65), which topped Washington, 2-0, thanks to a one-hitter over 8 2/3 innings from rookie Michael Wacha later on Tuesday.
Milwaukee got to Braves starter Freddy Garcia in the third, as Norichika Aoki doubled with one down and came around to score on a two-out hit from Lucroy.
Gattis doubled home Freddy Freeman with two away in the home fourth off Tyler Thornburg to tie the game, but Jeff Bianchi slugged his first homer of 2013 to start the fifth and put the visitors back on top.
"I tried to push the moment aside a little bit and tried to stick with what I've been doing," said Thornburg, who attended high school in the area. "It ended up working well tonight."
Atlanta tied the game again in the bottom of the sixth, as three straight singles, the last of which came from Freeman, plated Jason Heyward.
The Braves boosted their major-league best home record to 53-23 ... Gattis finished with a game-best three hits ... Garcia's ERA stands at 1.65 after he allowed six hits and two runs with seven strikeouts over 6 2/3 innings, while Thornburg's ERA reached 2.03 by giving up two runs on seven hits while fanning eight in seven full frames.