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Carmelo Anthony netted 18 points in Tuesday's victory.
The Nuggets jumped on the Bucks in the first quarter, outshooting them 52.4 percent to just 26.3 percent and building a 15-point lead. Despite looking shaky at times, the Nuggets didn't trail after the 9:03 mark in the first.
Frustration had clearly set in for the Bucks by the third quarter.
The Nuggets increased the lead to 14 points when Iverson made 5 of 6 free throws following the technicals.
The Nuggets couldn't finish the Bucks off until the fourth.
Milwaukee was down by just one early in the fourth after they followed Williams' ejection with a rally.
But back-to-back three pointers from Chucky Atkins gave Denver a 9-point lead with just six minutes to play and the Bucks couldn't respond.
Nuggets forward Nene played in his first game of the preseason after missing the team's first five because of a calf strain. He picked up three early fouls and played only 13 minutes, notching six points and four rebounds.
The Nuggets had a scare in third quarter when Kenyon Martin went down clutching his right shoulder. Martin had blocked a shot and was attempting to get the rebound when Yi Jianlian's right elbow came down hard Martin's shoulder. Martin went to the bench but re-entered the game minutes later. He finished with 10 points and five rebounds.
Martin played in only two games for the Nuggets last year because of right knee surgery.
Bucks center Andrew Bogut left the game midway through the third because of a left wrist sprain. He's listed as day-to-day.