After waiting half a century for a title, Milwaukee Bucks fans turned out by the thousands on Thursday to celebrate their team's NBA championship. 

Giannis Antetokounmpo, Khris Middleton, Jrue Holiday and the rest of Milwaukee's players and staff received a hero's welcome as they paraded through the city atop busses and trucks.

Two days after closing out the Phoenix Suns 4-2 in the NBA Finals for their first championship since 1971, the Bucks and their fans did not appear to have returned to earth. 

"Milwaukee, we did it, baby! We did it!" Antetokounmpo told the adoring crowd. "This is our city, man. We did it. It's unbelievable." 

Earlier, Antetokounmpo looked overwhelmed as thousands chanted "MVP!" while his bus rolled down the parade route.

"I'm proud of my team-mates, proud of the whole organisation for everything we did all year," Antetokounmpo said.

"We put in extremely unbelievable work, we believed in ourselves, we went out there ready to compete, and right now I'm extremely happy. I still can't believe this is happening, but I'm trying to be in the moment, trying to enjoy it as much as possible with you guys, with my team-mates, and with everybody." 

While Milwaukee's fans had waited a lifetime for a title, the players realised lifelong dreams as well.

None of them had previously won an NBA championship, and some, like Middleton, had lived the other end of the spectrum. 

His first season with the Bucks was 2013-14, when they went a league-worst 15-67. 

"It's just been a long time coming," Middleton said. "I've been here eight years, struggled, been through a lot of ups and downs, but we finally got the job done, for sure." 

That they did, despite losing the first two games of the Finals to the Suns - just as they had to the Brooklyn Nets in the Eastern Conference semi-finals before rallying to win in seven games. 

"Each time we were down 0-2, all we did was get closer," Middleton said. "Some teams separate, some teams point fingers. We never pointed fingers, we never quit on each other. All we did was come closer and find a way to try and figure it out."