Jokic received his first technical for arguing a call in the first quarter.
Malone was ejected for going onto the court to dispute a call late in the period. Malone looked like he was going to go face to face with the official but continued his journey to the locker room.
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Jokic was tossed after arguing another call with 1:22 left in the first half.
Jokic had nine points, five rebounds and five assists in 15:13 minutes before being tossed.
It was the eighth career ejection for the two-time MVP and his first since the 2021-22 season.
The Nuggets led 56-55 at half-time. The Pistons (2-12) entered play with an 11-game losing streak.
Denver entered the night with a 9-4 record as the franchise attempts to defend its 2023 NBA Championship, although the Nuggets were riding a two-game losing streak.