The Bulls rallied from a 13-point deficit to tie the score 78-all with 9:27 remaining on Butler's dunk after a steal. Robinson then fed Deng for a layup for an 80-78 lead, Chicago's first advantage since 1-0.
Deng and Robinson each hit 3-pointers to extend the Bulls' lead to 91-84. Stuckey's layup cut Chicago's lead to one with 1:27 left before Deng had a layup for a 94-91 lead. Charlie Villaneuva missed a 3 with 5.9 seconds left and Daequan Cook made a free throw.
Stuckey made a 3 before the buzzer for the final margin.
Chicago also rallied from 17-point deficits in each of its two previous games against Detroit this season. The Pistons last defeated the Bulls at the United Center on Feb. 24, 2006.
Detroit shot 50 per cent (36 for 72) from the field while the Bulls shot 40 per cent (30 for 76).
The Pistons jumped out to leads of 9-1 and 18-5, and led 24-20 after the first quarter. Cook hit a 3-pointer and a free throw with 15.5 seconds left before halftime to cut Detroit's lead to 55-53.
Stuckey made a running jumper with 2.8 seconds left to put the Pistons up four at the break..
Detroit shot 60 per cent from the field in the first half, while the Bulls were at 43 per cent. Stuckey led the Pistons with 16 points and Deng led Chicago with 12.
Chicago also struggled with free throws, missing 13 of 40.
Villanueva had 14 and Jose Calderon added 11 for Detroit.
Robinson and Pistons forward Kyle Singler each received technical fouls and Pistons guard Brandon Knight was called for a flagrant foul with 2:32 remaining in the first quarter after Knight was called for a travel and raised his arm, hitting Butler in the face. Robinson then appeared to push Knight, and Singler and other players joined the fray before the players were separated. Butler made both free throws to cut Detroit's lead to 24-15.
Joakim Noah and Marco Belinelli sat out for the Bulls. Noah has missed five straight games for plantar fasciitis in his right foot, and Belinelli has sat out four games with a strained abdominal muscle. Bulls coach Tom Thibodeau said both players are day to day. Noah had career highs of 30 points and 23 rebounds against Detroit on Dec. 7.
Chicago went 7-7 in March.
NOTES: The NBA upgraded Gibson's shooting foul against LeBron James in the Bulls' 101-97 victory over the Miami Heat on Wednesday to a flagrant foul, according to the South Florida Sun Sentinel. The victory snapped Miami's 27-game winning streak, the second longest in NBA history. "I guess we have to call the league and get clarification," Thibodeau said. "I didn't see it that way. I still don't have a good understanding of what a flagrant foul is. I thought I got some clarity last year, but apparently I didn't." ... Knight returned for the Pistons from an ankle injury he suffered Friday.