Miller, who also set a franchise record for points from a reserve, connected on 12 of his first 15 shots and 15-of-24 for the game as the Grizzlies built the lead to 22 in the third quarter.
The Grizzlies shot 56 percent to snap a six-game losing streak against Denver.
Carmelo Anthony led Denver with 33 points, but the Nuggets, despite shooting 55 percent, never got the deficit below double digits after the early stages of the second half.
Memphis shot 63 percent in the first half and led by as many as 15 before the break. Miller hit his first six shots and had 22 points in the half.
The Grizzlies relied on their guard play. Besides Miller’s points, including 17 in the second period, Atkins had 12 and Jones scored 11.
Nuggets center Marcus Camby strained his left knee in the first half and didn’t play after halftime.
Denver’s Greg Buckner made a 3-pointer just before the halftime buzzer to cut the Memphis lead to 65-57. The 65 points was the highest in a first half for the Grizzlies this season.
Gasol scored 10 points in the third and the Nuggets needed an 11-4 run to close out the period to pull within 96-81 heading into the fourth.
Anthony’s 33 marked his fourth consecutive game with at least 30 points. … Nuggets G Earl Boykins sat out his first game after suffering a fractured hand in Wednesday’s win at Indiana. Boykins is expected to miss four weeks. … Denver F Kenyon Martin also sat out the game due to his left knee problems. Martin did not play in any of the three games against Memphis this season. … Anthony surpassed 5,000 career points on a dunk with 8:39 to play in the first period. … Ruben Patterson got a technical in the second period after he and Grizzlies G Dahntay Jones got tangled up, which led to a some jawing. Camby got one later in the quarter when disagreed with a foul call that went against him.