Smith and Hurt each made 8 of 13 shots, while Khion Sankey added 12 points and five steals for the Bison.
Lipscomb (12-16, 7-10 Atlantic Sun Conference) opened the game on a 14-3 run, but Jacksonville outscored the Bison 33-21 over the next 15 minutes go into halftime trailing by just one, 36-35.
Back-to-back second-half jumpers gave Jacksonville its first lead, 51-50, with 11:41 left, and the lead changed three more times before Smith followed a Deonte Alexander jumper with consecutive dunks to put Lipscomb up for good.
Jacksonville outshot Lipscomb 45 percent (24 of 53) to 38.9 percent (28 of 72), but the Bison forced the Dolphins into 19 turnovers.
Jarvis Underwood paced Jacksonville (14-16, 9-8) with 26 points and Keith McDougald added 17.
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point guard Melo Trimble, considered a lock to leave the program before struggling in the second half last season, has withdrawn from the NBA draft and will return for his junior season.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.