The AL West-leading Rangers were 7-40 when trailing after six innings before a three-run rally that began in the seventh. Andrus had an RBI single to snap an 0-for-13 skid and Kinsler a two-run single that turned a two-run deficit into a lead for Texas.
"You can't ask for more than that. [Tuesday] night I got in the same situation and hit the ball right at a guy," Kinsler said. "Tonight I was able to find a hole."
Milwaukee's usually reliable bullpen fell apart in that seventh after Brewers right-hander Tyler Thornburg gave up one earned run in six innings, receiving a no-decision for the third time in three starts.
After a Leonys Martin strikeout, Andrus hit a line-drive single to cut the Rangers' deficit to 4-3. Burke Badenhop relieved Axford (5-6) and promptly gave up the two-run single to Kinsler.
"They've been doing such a good job that when they don't, it's surprising," Brewers manager Ron Roenicke said. "Walking the bases loaded is a tough thing to do when you're up a couple of runs, but those guys aren't perfect."
And Martin, the Rangers center fielder, and third baseman Jurickson Profar hooked up twice for impressive putouts that stalled Milwaukee scoring chances.
In the first inning, Martin threw out Jean Segura as Profar stretched out for the catch and made the tag just as Segura was sliding into Profar's foot.
In the sixth, Profar came a foot off the bag to his left then reached down quickly to tag Carlos Gomez for the out. Martin has a team-leading 10 outfield assists this season, which is tied for first in the American League.
"Those were as good of throws as I've seen an outfielder make this year," Roenicke said. "He threw out our fastest runners. When we're taking off, we don't think he's going to be able to throw us out, but his throws were perfect."
The Rangers started off the scoring as Kinsler made it 1-0 after Adrian Beltre singled. They led 2-1 when David Murphy led off the third by reaching first on an error, moving to second on a balk then scoring on Andrus' single past a diving Scooter Gennett.
Francisco hit a 428-foot homer in the second. His second long ball was a three-run shot and gave Milwaukee at 4-2 lead in the fourth inning.
It was Francisco's second multihomer game, the previous coming April 16 when he was playing for the Braves against Kansas City.
The game was delayed 37 minutes. Tuesday's game was delayed 42 minutes.
RHP Alexi Ogando had a CT scan on his right shoulder Wednesday after complaining of soreness following Tuesday's start. Ogando (5-4) pitched 6 1/3 innings and threw only 73 pitches in the loss. Ogando has been on the DL twice this season, the last time ending on July 23 because of shoulder inflammation. The Rangers acquired LHP Travis Blackley from the Houston Astros for cash considerations before the game. Blackley, who was 1-1 with a 4.89 ERA in 42 relief appearances for the Astros this season, was assigned to Triple-A Round Rock. … Aramis Ramirez was in the lineup as designated hitter on Wednesday in his second game back after being out for more than a month with a knee injury.
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ARLINGTON, TX - AUGUST 14: Elvis Andrus #1 of the Texas Rangers sign autographs for fans prior to the start of the...