Carter-Williams was acquired at the trade deadline last week in a three-team deal that had Milwaukee shipping Brandon Knight to the Phoenix Suns. Carter-Williams sat out his first three games with the Bucks with a strained right foot.
Coach Jason Kidd says he'll monitor the point guard's minutes.
The 23-year-old Carter-Williams was the NBA's Rookie of the Year last season. He was averaging 15 points, 7.4 assists and 6.2 rebounds per game with Philadelphia.
Kidd will still be down one regular in the backcourt after giving O.J. Mayo the night off against the Sixers to rest a sore right hamstring.