The Mavericks suspended Rondo before the game for conduct detrimental to the team. Rondo had a heated exchange on the court with coach Rick Carlisle in the third quarter of Tuesday night's win over Toronto.
Carlisle said the one-game suspension was an "organizational decision" and said Rondo will start in the Mavericks' next game against Brooklyn on Saturday.
Dennis Schroder had 17 points off the bench to lead six Atlanta players in double figures. The Eastern Conference-leading Hawks have won two straight after losing four of seven.
Monta Ellis led Dallas with 19 points.