Due to a hamstring issue, the two-time NBA Most Valuable Player missed the previous two games.
The Bucks held off a late Nets revival led by Damian Lillard, who led the team in scoring with 30 points and had two crucial steals in the fourth quarter.
“During the entire game, Dame’s defense was outstanding,” stated Doc Rivers, the Milwaukee coach.
“He’s a very competitive guy and you could see that tonight.”
Less than five minutes remained in the game, tied at 96-96, when Lillard stole the ball from Brooklyn guard Cam Thomas and launched a quick counterattack that ended with a three-pointer from Antetokounmpo.
With one minute and forty-one seconds remaining, Malik Beasley made a three-pointer after another steal from Lillard.
With a 45-25 record, the Bucks are still 10 games behind the Boston Celtics for the top spot in the Eastern Conference.