Smith converted a layup with 33.8 seconds to tie it at 99. After the Bucks turned it over, Dahntay Jones was fouled. He made the first and missed the second, but Anthony Tolliver grabbed the rebound for Atlanta and called timeout.
Horford was fouled with 20.1 seconds remaining and hit both free throws to give the Hawks a 102-99 lead. Monta Ellis missed a 3-pointer for Milwaukee, and Teague made two foul shots to put the game away.
Ellis scored 20 points for Milwaukee, and Ersan Ilyasova added 19 points and 10 rebounds.
The Bucks have dropped six of eight to fall to fall two games behind idle Boston for seventh in the Eastern Conference standings with 13 games remaining.
Ellis led a Bucks comeback midway through the fourth quarter, making three 3-pointers to give Milwaukee a 97-92 lead with 2:45 remaining. But the Bucks couldn't hold off the Hawks.
Horford scored on a short jumper with 1 minute remaining to cut Milwaukee's lead to 98-97. Ellis missed a 3-pointer, but Larry Sanders was fouled going for the rebound. He hit one of two free throws to make it 99-97 with 44.1 seconds remaining, setting the stage for Atlanta's final rally.
Harris went to the locker room midway through the fourth quarter with an undisclosed injury and did not return.
NOTES: Bucks F Luc Richard Mbah a Moute missed his eighth straight game with a sprained toe. Coach Jim Boylan said Mbah a Moute was improving, but he did not know when he would return. ... Sanders had 12 rebounds to extend his double-digit streak to eight, the longest in his career. ... With his 3-pointer with 2:41 remaining in the first quarter, Atlanta guard Kyle Korver has hit at least one 3 in 63 straight games, fifth longest in NBA history. The longest streak belongs to Dana Barros at 89 games.
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- Devin Harris