The Raiders (11-4, 2-0 Horizon League), down 28-23 at halftime, outscored Milwaukee (4-12, 0-2) 30-23 in the second half. Reggie Arceneaux led Wright State with 15 points, but Darling's late trey and Griffin's free throws proved decisive.
Darling's 3-pointer put Wright State up 51-49. After Griffin's two foul shots, James Haarsma sank two to make it 53-51 with 1:10 left.
There was no further scoring, although Milwaukee's Jordan Aaron (12 points) would miss a jumper with 1 second left.
Wright State hit 22 of 53 from the floor (41.5 percent) to Milwaukee's 14 of 41 (34.1 percent). But the Panthers made 18 of 25 free throws. Wright State was just 5 for 8 at the stripe yet managed to win.