Toni Parker scored 32 points in total, 21 of which came in the second half, and also provided nine assists to help his side overcome a 14-point deficit.
Blake Griffin scored 36 points for the visitors, but it did not prove to be enough as the Nuggets won the contest 116-115, thanks to a three-pointer from Randy Foye from the top of the key at the buzzer.
The 25-year-old forward finished the game with 31 points, eight rebounds and eight assists, while Serge Ibaka had 21 points and 12 rebounds.
LeBron James fell two rebounds shy of his first triple-double this season, but that did not prevent the hosts from winning for the fifth time in six games.
James scored 24 points and provided 11 assists, while Dwyane Wade scored 30 in Erik Spoelstra's side's 102-96 triumph at the American Airlines Arena in Miami.
Elsewhere in the NBA on Monday, the Indiana Pacers defeated the Orland Magic 98-79 at the Bankers Life Fieldhouse in Indianapolis, the Philadelphia 76ers went down by just six points at the Brooklyn Nets and the Dallas Mavericks overpowered the Cleveland Cavaliers.
Results in full: Indiana Pacers 98-79 Orlando Magic, Washington Wizards 100-90 Portland Trail Blazers, Brooklyn Nets 108-102 Philadelphia 76ers, Miami Heat 102-96 Detroit Pistons, Milwaukee Bucks 101-98 New York Knicks, Oklahoma City Thunder 86-77 Memphis Grizzlies, New Orleans Pelicans 95-102 San Antonio Spurs, Dallas Mavericks 124-107 Cleveland Cavaliers, Denver Nuggets 116-115 Los Angeles Clippers, Utah Jazz 79-94 Toronto Raptors, Sacramento Kings 99-70 Chicago Bulls