Manning shook off a sore ankle to complete 24-of-40 passes without an interception, including a 9-yard TD to Julius Thomas in the first quarter as the Broncos (9-1) caught the Chiefs (9-1) atop the division standings with the win.
Montee Ball ran for two scores and Demaryius Thomas made five catches for 121 yards as Denver ran off its 20th win in 21 regular-season games.
Wes Welker collected eight passes for 72 yards before exiting the game with a possible concussion.
Knowshon Moreno led the Broncos' ground game, picking up 79 yards on 27 carries.
Alex Smith completed 21-of-45 passes for 230 yards and a pair of TDs for the Chiefs, whose bid for an undefeated season came to an end.
Jamaal Charles ran for 78 yards on 16 carries.