The Nuggets trailed by 19 points late in the third period and by 12 early in the fourth. They outscored the Mavericks in the fourth period 33-12. After hitting only four of 25 3-pointers through three quarters, Denver shot 3 for 7 down the stretch while the Mavs missed all 11 3-point tries in the fourth.
The Nuggets won for the 12th time in 17 games.
Klay Thompson scored 25 points to lead the Mavericks, who are 2-5 playing without All-Star guards Luka Doncic (calf strain) and Kyrie Irving (back sprain). Thompson was scoreless on four shots, all 3-pointers, in the fourth period.
Nuggets: At 23-15, they're eight games over .500 for the first time this season and 12-3 with Jokic and Westbrook in the starting lineup. Their 21.9% shooting on 3's (7 of 32) was their poorest this season. Aaron Gordon returned for the first time since Christmas and had 13 points on 6-for-7 shooting from the floor and six rebounds in 18 minutes.
Mavericks: Doncic placed third in last season's MVP balloting, but is ineligible this season as of Sunday, unable to reach the threshold of playing in at least 65 regular-season games.
With Mavericks center Dereck Lively II playing with five fouls, Jokic spun inside against forward P.J. Washington for a finger-roll basket with 4:28 to play. That gave the Nuggets a 99-96 lead, their first lead of more than one point.
The Nuggets outscored the Mavericks 68-40 in the paint.
The teams will meet again in Dallas on Tuesday night in their final regular-season meeting of the season.