Wade was hurt on a drive to the basket late in the third quarter. The veteran went up hard for a contested layup, making contact with the Bucks' Pat Connaughton in midair and then tumbling to the court, unable to break the fall.
Wade remained on the court, writhing in pain, before needing help from several teammates to get back on his feet. The 37-year-old immediately went to the Heat locker room, but was able to walk there under his own power.
Wade returned midway through the fourth quarter.
Set to retire at the end of the season, Wade was questionable for Friday night's game due to a bruised right elbow, but coach Erik Spoelstra gave him the nod to play before the game.
Bucks guard Malcolm Brogdon left the game earlier and did not return with right heel soreness.