Jennings also finished with seven assists and two steals, while Ellis dished out five helpers and two steals as well.
Mike Dunleavy added 12 points and three steals, while Tobias Harris had 11 points and Marquis Daniels, 10 points and six rebounds, also contributed in the victory for the Bucks.
Forward Larry Sanders ended with 10 points and eight rebounds.
Meanwhile, C.J. Miles was the leading contributor for Cleveland with 18 points with star point guard and reigning NBA Rookie of the Year Kyrie Irving finished with 16 points, five rebounds and three assists.
Tristan Thompson pulled down seven rebounds in the defeat for the Cavaliers on the night.
The game saw Bucks guard Beno Udrih being forced to leave the game in the first quarter after he hit the back of his head on the knee of teammate Sanders. He played for only 45 seconds.
Elsewhere, Robin Lopez scored 18 points and pulled down 13 rebounds for the New Orleans to beat the Charlotte Bobcats 97-82.
Rookie Anthony Davis had a game high 22 points and nine rebounds for the Hornets as well, with fellow rookie Austin Rivers contributing 13 points.