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.
DouDou Gueye, a 6-foot-10 center from Senegal, has signed with Ball State as a graduate transfer from South Carolina State.
We have changes at the top of the draft and a shakeup in the lottery, with teams starting to make their final decisions. Get the latest in Chad Ford's Mock Draft 9.0.
Duke freshman point guard Derryck Thornton Jr. is transferring to USC, his father announced on Friday to Scout.com.