Burton Carpenter, 57, was transporting a freshman football team to a game at Prairie View High School when the incident occurred, The Denver Post said.
Carpenter hit the vehicle as he was pulling into the parking lot.
Thirty-seven students and four adults were on the bus, but no one was injured.
Carpenter has been charged with DUI, child abuse, posing threat or injury to a child and reckless endangerment.
The school district, Adams 12 Five Star Schools, said that all drivers go through a background check and are subject to random drug and alcohol testing.
Carpenter has one previous arrest for third-degree assault, the report said
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