MILWAUKEE -- A Khris Middleton layup with 9.1 seconds left and missed jumper by point guard Deron Williams sealed the Milwaukee Bucks' 96-95 victory over the Dallas Mavericks on Friday night at the Bradley Center.

Middleton had 27 points to lead Milwaukee, which saw a 16-point halftime lead disappear in the second half as the Mavericks finally started to get into an offensive rhythm after shooting just 31 percent in the first half.

Dallas made it a three-point game after three and after Bucks shooting guard O.J. Mayo put Milwaukee up six with a 3-pointer at the 3:11 mark of the fourth, Mavericks guard Raymond Felton hit back-to-back 3-pointers that tied the game at 93-93 with 2:50 left.

Center Dirk Nowitzki led Dallas with 20 points, with 15 of them coming in the second half. He put Dallas ahead 95-94 with 38 seconds left but after the Bucks got called for an offensive foul, Nowitzki tried to pass into the lane but was picked off by Middleton, who took it down the court for the go-ahead basket.

Middleton had 17 in the half, including 10 in the first quarter alone while Milwaukee knocked down 23 of 39 shots overall to take a 55-39 lead into the locker room.

Dallas attempted 44 3-pointers -- the most by any team in the league this season -- but made just 14 while shooting 41.7 percent from the field with 16 turnovers that led to 20 Milwaukee points.

The Bucks cooled off significantly after their first two quarters. They shot 46.3 percent for the game but made four of their nine 3-point attempts and only allowed nine points off 15 turnovers.

NOTES: Bucks G Jerryd Bayless missed his second straight game because of sprained left ankle that sidelined him for 12 of 17 games before Monday, He re-injured the ankle against San Antonio. ... Mavericks G Wesley Matthews is a Wisconsin native and called the Bradley Center home for four years while playing for Marquette University. ... Dallas C Zaza Pachulia spent the last two seasons with the Bucks, averaging 8.0 points and 6.6 rebounds in 126 games, but was traded to Dallas after the Bucks acquired free agent C Greg Monroe. He also spent the 2004-05 season with Milwaukee, his second in the NBA. The 31-year-old Pachulia came into the game leading Dallas with 18 double-doubles and is second on the team with 10.7 points per game this season. ... The Bucks had lost their last six meetings with Dallas before Friday, but are now 25-9 all-time against the Mavericks in Milwaukee.