The Raiders (11-4, 2-0 Horizon League), down 28-23 at halftime, outscored Milwaukee (4-12, 0-2) 30-23 in the second half. Reggie Arceneaux led Wright State with 15 points, but Darling's late trey and Griffin's free throws proved decisive.
Darling's 3-pointer put Wright State up 51-49. After Griffin's two foul shots, James Haarsma sank two to make it 53-51 with 1:10 left.
There was no further scoring, although Milwaukee's Jordan Aaron (12 points) would miss a jumper with 1 second left.
Wright State hit 22 of 53 from the floor (41.5 percent) to Milwaukee's 14 of 41 (34.1 percent). But the Panthers made 18 of 25 free throws. Wright State was just 5 for 8 at the stripe yet managed to win.
Former Kentucky guard Ed Davender, the only Wildcat with at least 1,500 points and 400 assists, has died. He was 49.
Guard Naz Mitrou-Long, whose 2015-16 season ended in December due to hip problems, has been granted a hardship waiver for the coming season, Iowa State said.
As the Sooners look to life without superstar Buddy Hield and his sidekicks, it's clear their unseasoned players will need to grow up fast.