BOSTON (AP) -- Brandon Jennings had 21 points, 13 assists and six steals and the Milwaukee Bucks won their first season opener in six years with a 99-88 victory over the Boston Celtics on Friday night.

The Bucks never trailed after the first 6 minutes and led by at least 11 points throughout the second half as the Celtics, who allowed the second-fewest points in the NBA last season, struggled defensively for the second consecutive game. They lost 120-107 to the Miami Heat on Tuesday night, matching the most points they allowed in any game last season.

Boston was led by Kevin Garnett with 15 points and Rajon Rondo had 14. The Celtics lost their first three games last season.