Teague, 32, signed a one-year deal with Boston during the offseason. He appeared in 34 games, including five starts, and averaged 6.9 PPG and 2.1 APG in 18.1 MPG while shooting 41.5% from the field.
With Milwaukee, he’ll add some depth at the point behind Jrue Holiday.
The Bucks have an open roster spot for Teague. They were seeking to fortify their guard depth after trading reserve point guard D.J. Augustin to Houston in the deal that brought veteran forward P.J. Tucker to Milwaukee.
Teague will reunite with former Hawks coach Mike Budenholzer.
For his career, Teague has averaged 12.3 PPG, 5.6 APG and 2.3 RPG in 805 games for the Hawks, Pacers, Timberwolves and Celtics.