The kick followed a 55-yard run by reserve running back Ron Dayne.
Jake Plummer went 15-of-24 passing for 162 yards, one touchdown and one interception. The interception was the first for Plummer in his last 230 pass attempts.
Dayne rushed for 98 yards and a score on seven attempts, Champ Bailey returned an interception for a touchdown, Jimmy Smith had five receptions for 57 yards and one score, and Jeb Putzier added 69 yards on four catches for the Broncos (9-2), who have won four in a row.
Drew Bledsoe was 29-of-44 for 232 yards, two touchdowns and two interceptions. Bledsoe also ran for a score.
Jason Witten made nine catches for 82 yards and one touchdown, Keyshawn Johnson added six receptions for 59 yards and a score for Dallas (7-4).