Detroit (16-8, 8-3 Horizon) shot 52.5 percent from the field and was 13 of 16 from the free-throw line but the Titans watched Milwaukee drain 10 3-pointers and outscore their bench 32-4.
Tied at 46, Ryan Haggerty hit a 3-pointer to put the Panthers on top 49-46 with 13:14 remaining in the game. Detroit regained the lead after a Ray McCallum fast break dunk to make it 50-49 and the Titans never trailed again.
James Haarsma had 26 points on 9-of-13 shooting including a perfect 7 for 7 from the line to lead Milwaukee (5-19, 1-9).
Doug Anderson and McCallum finished the night with 16 points apiece for Detroit, which has won four straight.
Maryland point guard Melo Trimble, considered a lock to leave the program before struggling in the second half last season, has withdrawn from the NBA draft and will return for his junior season.
Louisville's Chinanu Onuaku, who recently underwent a medical procedure to correct a heart rhythm issue detected during the combine, will keep his name in the NBA draft pool.
Andrew White III will return to the Nebraska men's basketball team next season after removing his name from the NBA draft.