DENVER -- Toronto came into Friday determined to fix its defensive problems. The Raptors still weren't happy with that end of the floor but they did enough to grind out a tough win.

DeMar DeRozan scored 30 points, Kyle Lowry scored 18 and had 13 assists and Toronto beat the Denver Nuggets 113-111 in overtime on Friday night.

Terrence Ross scored 16, including a 3-pointer in overtime that put the Raptors ahead for good.

The Raptors blamed their defense for consecutive losses to the two teams that played in the NBA Finals in June. They gave up an average of 124 points to Cleveland and Golden State, so Friday's commitment was to the defensive end.

Except for a poor second quarter when the Nuggets scored 38 the Raptors held Denver in check most of the night.

"We know exactly what we have to do and where the problems are defensively," Toronto coach Dwane Casey said. "It's from the starting unit on down. It's everybody. Everybody's got to step it up defensively."

Wilson Chandler had 25 points and 10 rebounds and Emmanuel Mudiay also scored 25 points to go with nine assists for Denver.

Danilo Gallinari scored 21 points and hit all 13 of his free throws for the Nuggets. He was a rebound shy of a double-double but missed three 3-pointers in the last few minutes of regulation that could have given Denver a cushion.

"It's self-explanatory. You can look at a lot of things down the stretch and see why you lost the game but it's just a tough loss," Chandler said. "We got some good looks. Sometimes they don't fall."

The Raptors (8-4) started their five-game road trip with a win to sweep the season series from Denver, but it was close to the end.

Denver (4-8) took a 106-104 lead in overtime on two free throws by Chandler, and Lowry made one on the other end to cut it to one.

DeRozan and Jameer Nelson traded buckets before Terrence Ross drained a long 3-pointer to give Toronto a 110-108 lead with 37.6 seconds left.

"Terrance has played well every time I've seen him play in Denver," Lowry said. "He shot the ball well."

Mudiay turned the ball over on the next possession -- his fifth of the game -- but Lowry was called for a charge and gave Denver a chance to tie it. However, Nelson stepped on the sideline with 10.7 seconds left.

The Nuggets, 29th in the league in turnovers, had 19 more Friday.

"We had two key turnovers," Mudiay said. "Mine was a big one. I just wish we would have defended better at the end."

Lowry hit two free throws after Nelson's turnover and Mudiay drained three after being fouled near half court with 6.4 seconds left.

The Nuggets fouled Jonas Valanciunas, who split his free throws, and Mudiay's desperation heave was short.

Valanciunas finished with 15 points and nine rebounds.

The game went into overtime after a frenetic final minute. Valanciunas split a pair of free throws to put the Raptors up 100-98 with 53 seconds left. Chandler missed on the other end but got his own rebound and zipped a pass out to Nelson for the go-ahead 3-pointer with 20.6 seconds left.

DeRozan's jumper put Toronto ahead 102-101 with 15 seconds left, and Chandler hit one of two free throws with 12 seconds left to tie it.

DeRozan's shot at the buzzer rimmed out to send the game to overtime.

"We got the league's leading scorer with the ball, in-and-out fadeaway," Lowry said. "I'd take it every time."

DeRozan has scored at least 30 in 10 of 12 games this season.

NOTES: Toronto C Lucas Nogueira was not with the team so he could be with his wife as she gave birth to the couple's daughter. Stella was born Thursday. Nogueira is expected to join the Raptors in Sacramento for Sunday's game. ... Nuggets G Will Barton was getting closer to coming back from a sprained ankle but his return has been delayed. Barton has missed nine games since getting hurt in Toronto on Oct. 31. There is no timetable for his return. ... The Raptors had just 10 players available for the game. ... Denver F Mike Miller was not active for personal reasons.