Malcom Brogdon had 10 points and nine rebounds and Antetokounmpo pulled down eight boards for the Bucks, who finished with a 55-36 rebounding advantage. Boston also sent Antetokounmpo to the foul line 17 times, and he made 13 free throws.
The Celtics lost their third straight after winning eight in a row.
Jaylen Brown scored 21 for Boston. He also had the dunk of the night.
Milwaukee dominated the first half, using a 9-0 run late in the second quarter to pull ahead by as much as 26 points.
Boston made a few runs in the second half but was never able to get the margin closer than 11.
Brown’s dunk with 9:43 left pulled Boston within 97-82, but he was called for a technical for flexing his muscles after the dunk and Brogdon made the ensuing free throw.
Brown made a 3-pointer to cut the lead to 103-90, and then Rozier made a steal and started on a fast break with Hayward, who spun a layup off the backboard while drawing a foul. Hayward missed the free throw and a chance at the three-point play.