Ahead 105-103 in the final minute, Jermaine O'Neal made two free throws and Danny Granger hit a 3-pointer with 18 seconds left to help the Pacers end a seven-game road losing streak.
"It's always important to win games and especially with the skid we've been on," said O'Neal, who had six of his 12 points in the fourth quarter. "Now we have to start putting games together, get that feeling back by winning consecutive games."
That opportunity will come Sunday night at Golden State when the Pacers end a five-game trip. It will be a homecoming for Dunleavy and teammate Troy Murphy, who were traded last year from the Warriors.
"I have no idea and I don't really care [about the reaction from Warriors fans]," said Dunleavy, who was frequently booed while playing for Golden State. "It will be nice to see some familiar faces and some friends, but we're just going there to try and get a win."
The Kings were certainly in a giving mood in helping Indiana snap a string of eight losses in the previous nine games. Sacramento matched its season-high with 23 turnovers that led to 25 points.
"It's tough. For me to just be pressing so bad and to play my old team," said former Pacer Brad Miller, who had six turnovers, including five in the first quarter. "They know my game pretty well. It's always tough to have a good game against your old team."
Travis Diener made five 3s and scored a career-high 19 points in playing much of the second half in place of starter Jamaal Tinsley, who had just two points in 19 minutes.
It was Diener scoring 11 points in the third quarter to help the Pacers maintain their lead. Sacramento came out playing well following a sluggish opening half and twice got to within one point before falling behind 86-80 heading into the fourth.
"The last two games he [Diener] came in and sparked us, the tempo speeds up when he is on the floor," Pacers coach Jim O'Brien said. "He does a nice job of hitting open threes. He also does a great job of finding open teammates."
Although the lead was in jeopardy throughout the fourth quarter, the Pacers never trailed, helped by Sacramento's constant mistakes. It's been a season-long pattern for the injury-plagued Kings, who lead the NBA in turnovers per game and had 11 in the first quarter when they trailed 29-21.
"It's difficult to overcome the way we started the game in terms of turning the ball over," Kings coach Reggie Theus said. "It sets the tone. I think the early part of the gme most of their points came off turnovers, our mistakes, and not from their offense."
Although the Kings got Martin back, two starters still remain sidelined with injuries. Mike Bibby has not played all season but is scheduled to return on Wednesday, while Ron Artest could be back on the court by late January.
Dunleavy enjoyed a big first half, scoring 18 points and helping the Pacers take a 65-53 lead at the break.
Prior to the game, the Kings had a 7-10 record with Martin in the lineup and the same mark when he didn't play. ... Indiana reserve center David Harrison served the first of a five-game suspension against the Kings for violating the NBA's anti-drug program. ... The Pacers made 11-of-28 3-point attempts.