Milwaukee won 4-3 in 10 innings at American Family Field after Yankees reliever Tim Hill threw to third instead of taking the out at first.
Brice Turang sparked the comeback by tying the game in the eighth, while Aaron Ashby escaped the top of the 10th to earn his MLB-leading seventh win.
The victory came despite six dominant innings from Yankees starter Cam Schlittler and gave the Brewers back-to-back wins, while outfielder Brandon Lockridge went on the injured list.
With Luis Gil injured again, can the Yankees' elite rotation survive the return of its high-priced, oft-injured veterans?
William Contreras delivered another walk-off win. Is he quietly building the strongest MVP case in the National League?
The Yankees lost despite a historic pitching performance. Does this expose a fatal flaw in their offense and bullpen management?