The Pioneers went 14 of 16 (87.5 percent) from the line during the contest and sank 44 percent from the field.
Nebraska jumped to an 18-9 advantage early in the first but Denver came back with Byrd, Engesser and Brett Olson combining for six 3-pointers, moving the Pioneers to a 41-34 halftime lead.
With Denver up 54-40 at 12:23 in the second, Udofia and Griffin engineered a 14-5 run to give the Pioneers a comfortable 68-45 edge with 7:46 to play.
CJ Carter led the Mavericks (15-13, 4-8) with 12 points and five rebounds.
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