Playing his second career playoff series, Antetekounmpo made 13 of 18 shots, and added eight rebounds and three assists. Greg Monroe added 14 points, Tony Snell had 11, and Khris Middleton finished with 10 points and nine assists.
Game 2 is Tuesday night in Toronto.
Antetekounmpo picked up his fourth foul with 4:33 left in the third and headed to the bench as Toronto’s P.J. Tucker was making two free throws to break a 64-all tie.
Without Antetokounmpo, Milwaukee closed the quarter on an 11-5 run to take a 75-70 lead into the fourth.
Milwaukee kept it going after Antetokounmpo returned for the final quarter. The Bucks scored eight straight points, including four from Khris Middleton, to make it 85-71 with 8:47 left.
Ibaka’s jump shot at 7:49 was Toronto’s first made field goal of the fourth. Toronto shot 7 for 35 in the second half, following up a 3 for 18 showing in the third by going 4 for 17 in the fourth. The Raptors went 27 for 75 overall.
Many in the sellout crowd headed for the exits throughout the final quarter as the Bucks stretched their lead to a game-high 19 points.
Ibaka was the only Raptors starter to make a 3-pointer. Toronto finished 5 for 23 from long range, with the starting five going 1 for 13. No Raptors player made more than one 3-pointer.
Toronto trailed 30-22 after the first but outscored Milwaukee 29-16 in the second to take a 51-46 lead at halftime. Ibaka scored 10 points in the first and DeRozan had 10 in the second, going 6 for 6 from the free throw line.
Bucks: Milwaukee shot 7 for 21 in the second. … Milwaukee has won consecutive games against Toronto after losing 13 of the previous 14 meetings.
Raptors: After playing 418 games over seven seasons, Tucker made his playoff debut. … DeRozan finished with one assist. … Actor Ethan Hawke attended the game.