Boozer is suffering from a strained right calf and is expected to miss at least a few more games.
Millsap picked up the slack by scoring 32 points and grabbing a season-high 14 rebounds. Utah won its fifth straight game.
Andrei Kirilenko added 18 points and both Sundiata Gaines and C.J. Miles had 12.
Sacramento lost its ninth straight road encounter and remained stuck on three road victories for the season. Kevin Martin led the Kings with 33 and Tyreke Evans had 25.
Copyright 2010 United Press International, Inc. (UPI).
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