Maurice Barrow chipped in 10 points and three steals for Fairfield, which had 12 steals. Needham finished with seven assists, more than Milwaukee (4) managed as a team.
The Stags (6-5) took a 23-21 lead into the break after a back-and-forth first half that featured six lead changes. Milwaukee (3-7) missed 8 of 10 shots and committed three turnovers over the first nine minutes of the second half as Fairfield opened up a 43-26 advantage and began pull away.
Kyle Kelm paced the Panthers with 13 points and 14 boards.
Justin Jenkins, who had nine points, went 0 for 8 in his first seven games this year, but has made eight of his last 12 field-goal attempts over the last three contests.
San Diego State's student section, "The Show," has been known to harass opponents. Does it make Viejas Arena the Mountain West's most difficult venue?
Which venue in the Mountain West is the toughest place to steal a win? Cast your vote.
Who can challenge DeAndre Ayton for No. 1 in the ESPN 100? It's one of the issues worth watching as we exit basketball recruiting's biggest month.