Jannero Pargo scored 11 points, all in the fourth quarter. The Hawks, playing without leading scoring Joe Johnson, leaned on their reserves, including veterans Tracy McGrady and Jerry Stackhouse, in the final period.
The Bucks, led by Brandon Jennings’ 34 points, were ahead by 15 in the third quarter. Atlanta pulled ahead with a 15-3 run to open the final period.
McGrady, Pargo and Radmanovic hit 3-pointers in the run that gave Atlanta its first lead since the second quarter.
Drew Gooden, who had 24 points and 10 rebounds, hit two free throws with 1:16 remaining for a 92-92 tie. Josh Smith answered with a jam before Ersan Ilyasova scored on a tip-in for a 94-94 tie. Radmanovic took a pass from McGrady and hit the go-ahead 3-pointer.
After Smith blocked a shot by Gooden, Stackhouse made two free throws to add to the lead.
Smith had 24 points and 19 rebounds.
The Bucks, led by Jennings, closed the first half with a 13-2 run to lead 51-39 at the break. Jennings started the run with back-to-back 3-pointers. After stealing a pass from Smith, Jennings then added a running layup to cap his personal 8-0 run.
The Hawks cut the lead to 69-65 late in the third period before Jennings took over again, sinking two 3-pointers while scoring seven straight points to push the lead to 76-65.
Kirk Hinrich made his second start for Atlanta, joining Jeff Teague in Atlanta’s backcourt.