Tennessee (7-6) sealed the victory when Rashad Johnson forced a fumble from A.J. Derby after an 11-yard reception at the Denver 40 with 53 seconds left. Daimion Stafford recovered as the Titans took a temporary lead in the AFC South, pending the outcome of the Houston-Indianapolis game. The Texans won 22-17 to also go to 7-6.
Denver cut its deficit to 13-7 on Trevor Siemian's 3-yard pass to Emmanuel Sanders with 9:58 remaining in the game, then got a 34-yard field goal from Brandon McManus at the 4:28 mark to draw within three points.
The Broncos (8-5) got the ball back at their 2 with 2:26 remaining, but the Tennessee defense came up with its second and biggest turnover of the day to wrap up the win.
The Titans won despite an off-day from quarterback Marcus Mariota, who completed just 6 of 20 passes for 88 yards.
Siemian, returning from a one-game absence due to a foot injury, hit on 35 of 51 attempts for 334 yards.
Tennessee owned most of the first half, using its ground game against Denver's 28th-ranked run defense to chew up the clock.
After forcing a 3-and-out to start the day, the Titans drove 70 yards on 11 plays -- nine on the ground -- over 6:06. DeMarco Murray finished the drive with a 1-yard run over left tackle on 3rd-and-goal for a 7-0 lead at 7:29 of the first quarter.
Succop converted a 41-yarder with 1:27 left in the half for a 13-0 advantage. The Tennessee drive covered 74 yards in 19 plays and 8:04, but a Mariota touchdown pass to Rishard Matthews was nullified when tight end Delanie Walker was flagged for his second offensive pass interference call of the half.
Murray ended with 92 yards on 21 carries for the Titans, which outrushed Denver 180-18.
DT Jurrell Casey (foot sprain) was deactivated by Tennessee, as was WR Kendall Wright, who was late and missed meetings on Saturday. The Titans also deactivated RB David Fluellen, DB Curtis Riley, LB Justin Staples, G Sebastian Tretola and TE Jace Amaro.
Titans QB Marcus Mariota's first completion made him the franchise's first 3,000-yard passer in a season since Matt Hasselbeck (2011).