Denver never trailed in winning for only the third time in 10 games.
The Knicks have lost three straight overall and fell to 5-8 at Madison Square Garden this season.
The Nuggets led 30-24 after the first quarter and were up 60-49 at halftime. During the second quarter, the Nuggets led by as many as 16, which caused the home crowd to grow surly.
After New York cut its deficit to six in the third period, Green and Jokic responded with layups on consecutive possessions to push the advantage to 73-63. The layups sparked 23-8 run, including 12 points by Jokic, as Denver made it 92-71.
Denver's lead grew to 30 on JaMychal Green's hook shot midway through the fourth quarter.
The Nuggets shot 53% from the field (44 for 84) and 47.6% from 3 (20 for 43) while limiting the Knicks to 40.2% shooting from the field (35 for 88) and 30.8% (12 for 40) on 3s.
Nuggets: The game marked a homecoming for Denver coach Michael Malone, who was an assistant on the Jeff Van Gundy-era Knicks squads, and counts Knicks coach Tom Thibodeau as a friend.
“I was fortunate,” Malone said before the game. “Jeff Van Gundy was the head coach, and I had guys like Tom Thibodeau, Don Chaney, Steve Clifford who just went out of their way to — maybe because they liked my father, I don’t know — they went out their way to look after me and show me the ropes.”
The Nuggets announced the signing of guard Davon Reed to a 10-day contract prior to the game.
Knicks: When Thibodeau met with reporters nearly 90 minutes before the game, he had one player on his mind: Jokic. Specifically, the reigning MVP’s skill set and how to defend against it.
“He’s so unique because you can run your offense through him,” Thibodeau said. “When a guy passes the ball the way he does, he makes everyone a lot better.”
Nuggets: Visit Chicago on Monday night.
Knicks: Visits San Antonio on Tuesday night.
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Denis P. Gorman, The Associated Press