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.
Mike Krzyzewski says he has good reason to be excited for next season thanks to a combination of Duke's incoming freshmen and a core of experienced upperclassmen.
Georgia guard Juwan Parker has been awarded a medical redshirt, leaving him with two years of eligibility, after missing the 2015-16 season with a partially torn Achilles tendon.
Forward Trevon Bluiett has withdrawn from consideration from the NBA draft and will return to Xavier for his junior season.