James Haarsma added 11 points and Evan Richard 10 for the Panthers, who notched their first 3-0 start since the 2004-05 season. Kaylon Williams had game highs of eight assists and eight rebounds.
Marcellus Barksdale was the only player in double figures for the Jaguars (1-2), scoring 12.
Trailing 31-23 at intermission, the Jaguars opened the second half on an 8-0 run and tied the game on Stephen Thomas’ basket with 17:34 to go. But Allen’s layup with 15:01 left broke a 35-35 tie, and Milwaukee outscored IUPUI 27-14 to coast home.
The Jaguars shot just 15 of 50 (30 percent) and were outrebounded 40-28.
The game was part of the Spartan Classic constructed by Michigan State.