The two-time MVP made all three of his 3-point attempts and also had 12 rebounds in his return from a sore right calf as the Bucks won for the 10th time in 11 games. He scored 15 points in the fourth quarter.
"Guys are playing with confidence, playing together," said Antetokounmpo, who went 6 of 7 on free throws. "We're guarding together. We're in a very, very good spot right now.''
Milwaukee split the two games it played without Antetokounmpo, losing 97-93 at Toronto and rolling to a 124-102 home victory over Miami.
The Bucks broke a 29-all tie with seven straight points early in the second quarter and stayed ahead the rest of the way, though Cleveland made the Bucks work for it.
After trailing by as many as 13, the Cavaliers got the margin down to two in the fourth quarter. Cedi Osman missed a 3-point attempt with 6:14 left that would have given Cleveland its first lead since late in the first quarter.
Milwaukee's Bobby Portis got the rebound off Osman's missed shot. Khris Middleton then found Jrue Holiday, who hit a 3-pointer on the other end to extend the Bucks' lead to 101-96 with 6:04 remaining.
It didn't drop below five the rest of the way.
"I thought that pass and that shot might have been the biggest kind of swing because it was hanging there at two for a while,'' Bucks coach Mike Budenholzer said. "We needed a play from somebody.''
Holiday had 20 points, 8 assists and 7 rebounds. Middleton provided 21 points and eight assists. Pat Connaughton scored 12, and Portis had 10 points and 16 rebounds.
The Bucks are undefeated this season when Antetokounmpo, Middleton and Holiday are all in the lineup.
The Cavaliers were playing one night after a 109-108 loss to Utah that snapped a four-game winning streak. Although they dropped each of the past two games, they still saw reason for encouragement.
"We're going to fight till the end,'' Allen said. "That's the main thing I learned about this team, about the guys. No matter how we start the game, no matter who's in front of us, big or small, we're going to go out there and fight till the end. You look at these last two games, we came out flat in both of them. We could have just rolled over and gave the game up easily, but we came back and tried to stay in it till the end.''
Milwaukee has beaten the Cavaliers eight straight times. The Bucks are 43-4 against Central Division opponents since Budenholzer took over as coach in 2018.
The Associated Press contributed to this story.