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Paul Pierce, during the Milwaukee  Bucks-Boston Celtics game at TD Garden Wednesday night, managed to reach a milestone. As it would turn out, he would do more.

He would reach 20,000 points in his career, but more importantly score 12 points in overtime, leading Boston to a tough, well-earned 105-102 win over Milwaukee.

Shaquille O’Neal missed his second straight game for the Celtics as he brusied his right knee against the New York Knicks last Friday and probably will miss the team’s next game against the Chicago Bulls this Friday.

Ray Allen tickled the twine with 15 points in the first half, helping Boston go to their locker room at halftime tied at 47. Both teams would clamp down defensively in the third quarter.

After Milwaukee scored the second half’s first six points, the Celtics came back with consecutive baskets by Kevin Garnett and Jermaine O’Neal. After that spurt, neither team held more than a four-point lead going into the fourth quarter, with the Bucks taking a 63-62 edge into the fianl frame.

Trailing 82-77 after Brandon Jennings’ drive, Boston went on a 13-2 run over a 1:38 stretch late in regulation. The Bucks would close the gap to 90-89 on a breakaway layup by Jennings; Allen would make just one free throw, setting the stage for Carlos Delfino’s basket. Rajon Rondo’s miss at the horn sent the game into overtime.

In the extra period, O’Neal tipped in Allen’s miss, giving the Celtics a 97-95 lead with 1:49 remaining. Pierce would drain a pair of free throws 30 seconds later. He would then proceed to make two more free throws with 13.3 seconds left and then add four more in the closing 10.3 seconds, sealing the win for Boston.

Pierce led the Celtics with a game-high 28 points, 5 rebounds, 4 assists and a steal while Allen chipped in 23 (including three 3-pointers) with 6 rebounds, 2 assists and 2 steals. Rondo added 17 with 8 rebounds, 15 assists, 3 steals and a block.

The Bucks were led by Andrew Bogut with 21 points, 13 rebounds and a block while Delfino and Ersan Ilyasova each added 15 – with Delfino grabbing 4 boards, dishing out 7 assists along with a steal while Ilyasova grabbed 7 rebounds and dished out an assist.

Boston (4-1) plays again on Friday night when they host the Chicago Bulls while Milwaukee (1-4) travels to Indianapolis to take on the Indiana Pacers – also on Friday night.