Brogdon had been out since early February, about six weeks, with a partially torn left quadriceps tendon.
"I'm going. ... I'm playing tonight," Brogdon said earlier Monday.
Brogdon played 14 minutes off the bench and chipped in two points, two rebounds and an assist.
While the Bucks got Brogdon back, they still weren't at full strength as star Giannis Antetokounmpo missed his second straight game with soreness in his right ankle. He sat out Saturday's win at the New York Knicks with the same injury.
Interim head coach Joe Prunty said the Bucks are waiting until Antetokounmpo is strong enough to do everything necessary in game action.
Milwaukee has clinched a playoff berth but could still finish as high as the sixth seed in the Eastern Conference, depending on what happens over the last three nights of the regular season. The Bucks were the 7-seed entering Monday night's games.