Things got a little testy early in the fourth quarter, when Orlando's J.J Redick picked up a technical foul after a post-play skirmish with Indiana forward Tyler Hansbrough.
There were also a handful of foul calls that the Magic players took issue with and seemed to play into their frustrations as the Pacers built an 82-63 lead.
Orlando wasn't done, though, and used a 14-0 run to cut it to 82-77 with 4:40 to play, prompting the second Pacers' timeout in two-minute stretch.
Richardson nailed a 25-footer to trim it back to five and it was 89-86 after two Davis free-throws.
That was still the score when Redick got free on an out of bounds play and hit a 3 from the wing to tie it with 38.7 left.
A desperation 3-pointer by Hill with the shot winding down resulted in a shot clock violation and gave Orlando the ball with 14.7 showing in the clock, but Nelson's fade away jumper in the lane fell short at the buzzer.
West said after sweating out Saturday's win, they are going back home focused, but mindful that the Magic aren't about the lay down.
"It is hard to win games period," he said. "We will take the win. I thought it was good from the perspective that we made a lot of mistakes ... We were still able to respond and come out of here with a win."
Notes: There was a moment of silence before the game in honor of Visit Orlando CEO Gary Sain, who died Friday at age 61. Sain, a fixture in tourism marketing, was instrumental in helping Orlando host the 2012 NBA All-Star game. ...Bubba Watson, the 2012 Masters champion, was in attendance.
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