Maurice Barrow chipped in 10 points and three steals for Fairfield, which had 12 steals. Needham finished with seven assists, more than Milwaukee (4) managed as a team.
The Stags (6-5) took a 23-21 lead into the break after a back-and-forth first half that featured six lead changes. Milwaukee (3-7) missed 8 of 10 shots and committed three turnovers over the first nine minutes of the second half as Fairfield opened up a 43-26 advantage and began pull away.
Kyle Kelm paced the Panthers with 13 points and 14 boards.
Justin Jenkins, who had nine points, went 0 for 8 in his first seven games this year, but has made eight of his last 12 field-goal attempts over the last three contests.
Andy Katz breaks down the likelihood of Villanova, Syracuse, North Carolina or Oklahoma making a run to the Final Four next season.
Florida State has announced that Xavier Rathan-Mayes will return to the court for his junior season. The 6-foot-4 guard declared for the NBA draft last month but did not hire an agent.
Virginia coach Tony Bennett takes the ACC Fast Break with Dino Gaudio by answering questions like who the best Tony Bennett is and what other sport he'd like to coach.