Five other players scored in double figures for the Pistons, who averaged just 88.8 points during their skid. Kyle Singler and Will Bynum each had 16 off the bench.
Thaddeus Young scored 22 points for the Sixers, who have lost three straight after reeling off four consecutive road wins. Michael Carter-Williams added 21 points and Spencer Hawes finished with 16 points, 10 rebounds and six assists.
Detroit outrebounded the Sixers 62-42, tying the Wells Fargo Center record for offensive rebounds with 25. Smith led the way with 13 boards to go with seven assists, five blocks and four steals.
The game marked Maurice Cheeks' first return to Philadelphia as a head coach since being fired by the Sixers in 2008. Cheeks coached in Philadelphia for three seasons and was an assistant with Oklahoma City from 2009-13 before getting hired by Detroit last June.
The Pistons led 100-98 with 5 minutes remaining before scoring the next nine points, including a 3 by Jennings with 3:21 left that just about put the game away.
Trailing by double digits for most of the first half, the Pistons staged an early third-quarter rally, going on a 15-2 run to take their first lead at 70-69. The spurt was capped by back-to-back 3s from Jennings - his first two field goals of the game.
Jennings, the team's leading scorer, had 18 of his 19 points in the second half.
The Sixers made nine of their first 10 shots to take control early, opening a 22-7 lead with 7:46 remaining in the first quarter. The Pistons scored the final seven points of the period to trim it to 36-28, and their deficit remained eight heading into halftime.
NOTES: Sixers forward Lavoy Allen missed his first game of the season with a right calf injury. Arnett Moultrie was also out (left ankle). . Allen Iverson sat courtside and received a raucous ovation when he was shown on the big screen. Iverson's jersey will be retired during halftime of Philadelphia's game against the Washington Wizards on March 1.