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Damian Lillard scored with 3.9 seconds left as the Milwaukee Bucks completed a thrilling late comeback to beat the Houston Rockets 101-100 in the NBA.

The Rockets led 100-94 with one minute 59 seconds remaining before Lillard sank two free throws, set up AJ Green for a three-pointer and made a driving lay-up.

He finished with 18 points and 10 assists at the Fiserv Forum in Milwaukee, while Brook Lopez scored 27 points and Giannis Antetokounmpo 20.

"Normally when something is wrong with me I feel like I can will myself through it, but this was probably one of the first times in my life and definitely in my NBA career where I was like 'something is off'," said Lillard, returning from a three-game concussion absence.

"It was a little frustrating. I just didn't like not being with the team."

Defeat ended a five-game winning run for the Rockets, who trailed by 14 points at one stage. Fred VanVleet scored 26 points and Jalen Green 21 for the Rockets.

The Bucks are fourth from bottom in the Eastern Conference, while the Rockets are fourth in the West.

The Los Angeles Clippers held off a comeback from the in-form Golden States Warriors to win 102-99 at Intuit Dome.

Norman Powell scored 23 points for the Clippers, including five three-pointers, while Stephen Curry led the Warriors with 26.

"I'm proud of the team. They made a big run like they always do, and we were able to keep our composure and come away with the win," said Clippers coach Tyronn Lue.

The Clippers are ninth in the Western Conference and the Warriors second.