The two-time MVP also had 12 rebounds in his return from a sore right calf as the Bucks won for the 10th time in 11 games. Milwaukee split the two games it played without Antetokounmpo, losing 97-93 at Toronto and rolling to a 124-102 home victory over Miami.
Milwaukee broke a 29-all tie with seven straight points early in the second quarter and stayed ahead the rest of the way, though Cleveland made the Bucks work for it.
After trailing by as many as 13, the Cavaliers got the margin down to two in the fourth quarter. Cedi Osman missed a 3-point attempt with 6:14 left that would have given Cleveland its first lead since late in the first quarter.
Jrue Holiday then hit a 3-pointer on the other end to extend the Bucks’ lead to 101-96 with 6:04 remaining.
Milwaukee’s lead didn’t drop below five the rest of the way.
The Bucks are undefeated this season when Antetokounmpo, Middleton and Holiday are all in the lineup.
Milwaukee has beaten the Cavaliers eight straight times. The Bucks are 43-4 against Central Division opponents since Mike Budenholzer took over as coach in 2018.
The Associated Press contributed to this story.