Giannis Antetokounmpo described his Milwaukee Bucks team-mates as "amazing" for closing out a 117-111 victory over the Houston Rockets after he fouled out on Thursday.

Reigning MVP Antetokounmpo picked up his sixth foul when the Bucks were leading by six points with five minutes and 18 seconds remaining in their first NBA game of 2019-20 at Toyota Center.

The Greek helped Milwaukee overturn a 16-point half-time deficit by posting 30 points, 13 rebounds and 11 assists, making him the first player since Oscar Robertson in 1966 to post a 30-point triple-double in a season opener.

Antetokounmpo feels the Bucks took a significant step forward by holding on for the win in his enforced absence.

"I was p***** [to foul out], I'm not gonna lie," he said. "Obviously, a stupid sixth foul - I got under [Clint] Capela. I could have avoided it, but it's an opener and you're so excited. But as a basketball player you have to control your excitement.

"They did an amazing job [to hold on for the win]. Moved the ball, knocked down shots. Brook [Lopez] executed from the post, knocked down shots and made the right plays, so they did an amazing job.

"It feels amazing. Being down 16 and able to come back and nobody was complaining, everyone was focused on the game - at no point did it feel like we gave up. We played harder, defended harder, executed harder and it's game number one. This can only make you better.

"The chemistry is amazing. We need to keep working on that, and you're going to find adversities throughout the season. But at the end of the day, you've got to face moments like this because moments like this make you better."

Russell Westbrook poured in 24 points to go with 16 rebounds, seven assists and two steals on his Rockets debut, while James Harden had 19 points and 14 assists.

Seven-time All-Star Harden shouldered the blame for the loss and hopes to rediscover his usual "swagger" quickly.

"I didn't play well offensively the entire night. Give them credit, they came back and played well that second half but this one is on me. I wasn't as aggressive enough and that's what it was," said Harden.

"It's the first game of the season so I've got to get my rhythm as well. I wish I would just go out there and make every shot, have my swagger like I will be. It will come."

Westbrook added: "I've got to do a better job of helping [Harden] out. Especially when teams we're playing are guarding him like that. That's why I'm here; to make a better career for him, so he doesn't have to create and do everything like he's accustomed to doing.

"When that happens, we've got to do a better job of figuring it out, [we] kind of waited too late to do that."