Tiby scored 12 of his points on 13 attempts from the free-throw line. Austin Arians led Milwaukee with 20 points.
Milwaukee led 54-53 with 5:35 to go then went on a 13-point run that included 3-pointers by Arians and Akeem Springs to lead 67-53 with 2:07 to go.
CJ Bobbitt was the only Denver player in double figures with 10 points. The Pioneers shot 52.4 percent, including 7 of 17 from the 3-point line but were outrebounded 31-19, including 12-3 on the offensive boards.
Milwaukee, which shot 42.9 percent from the floor and 9 of 27 from the 3-point line, hit 20 of its 21 free-throw attempts. Denver had just 10 attempts from the line, making seven.