Al Horford put in the game-winning basket with just 5.9 seconds left after backing down Larry Sanders to get a good shot off. Horford finished with 23 points and 11 rebounds. Jeff Teague had 23 points and nine assists, while Devin Harris added 21 points.
The game featured 18 lead changes, with Milwaukee taking a 102-101 lead on a Monta Ellis basket right before Horford's winner. Ellis, who almost became a Hawk earlier this week in exchange for Josh Smith, finished with 14 points and 10 assists for the Bucks.
Smith finished with 15 points and 13 rebounds for Atlanta, after posting 18/6 on Friday when the trade deadline passed and Smith remained a Hawk for the rest of this season.
The Hawks had been in a similar tangle on Friday night at home against Sacramento, trailing by 1 late in the third quarter before blowing the doors off and taking a 20 point lead before eventually winning, 122-108. Saturday's action was a wee bit closer for Atlanta but they still pulled out the win.
At 31-23, the Hawks will host the Detroit Pistons on Monday night. The win also brought the Hawks up to 5th in the Eastern Conference, ahead of the Chicago Bulls, and just a half-game behind Brooklyn for the 4th spot in the conference.