Shaquille O'Neal, Delonte West and Marquis Daniels each scored 11 points for Boston, which improved to 3-0.
Jarrett Jack led the Raptors (1-1) with 18 points. Leandro Barbosa added 16 points, getting 14 in the second half.
Jermaine O'Neal played his first game after missing the first two with a strained left hamstring. He blocked three shots and grabbed two rebounds in seven scoreless minutes. Boston coach Doc Rivers said before the game that he wanted to ease him back into action.
Shaquille O'Neal also grabbed five rebounds and was perfect from the free throw line - 3 of 3 - but picked up five fouls in 17 minutes.
Despite being a preseason game, it was fairly highly contested with both teams - mostly reserves - going at each other with spirited play in the second half.
Boston reserve forward Stephane Lasme cut around a screen for a driving dunk, pushing Boston ahead 85-84 with just over 21/2 minutes left.
The teams were tied three times and swapped leads eight times in the final quarter until Lasme's jam moved Boston ahead for good. Robinson followed with his 3-pointer, making it 88-84 with 2:21 left.
Von Wafer hit three free throws to help seal it.
Celtics forward Glen "Big Baby" Davis got a cut on his nose taking a charge on David Anderson early in the second quarter and didn't play the rest of the game.
One of the better highlights was when Rajon Rondo perfectly set up Shaq with an alley-oop pass that the 7-foot, 1-inch center caught with one hand and slammed through, bringing the crowd to its feet.
Boston's starters - led by Kevin Garnett - looked sharp early in the first game at the TD Garden since the Celtics won Game 5 of the NBA finals last spring before losing the series in a Game 7 to the Lakers in Los Angeles.
The Celtics opened a double-digit lead, 28-17, on West's three-point play early in the second quarter, but the Raptors closed to 46-39 at halftime.
This program aired on October 11, 2010. The audio for this program is not available.