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However, the AFC West side managed to take the lead when they converted a fourth down, and although they failed to score a touchdown, Brandon McManus sent a kick through the posts from 29 yards.
The Broncos had the chance to put a further three points on the board just before the break, but McManus sent his kick from 51 yards wide of the posts.
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The Broncos extended their lead to six points when McCown fumbled the ball following a sack from Shaquille Bennett. McManus kicked the field goal from 25 yards after Manning and his offense stalled in the redzone.
Cleveland responded to draw within two points as McCown and Barnidge connected for the second time in the game with a 14-yard strike.
Matters got even better for the hosts when Dansby picked off Manning again and returned the ball 35 yards for the touchdown to hand the Browns the lead.
However, the lead lasted just seconds as Manning came back with a 75-yard touchdown to Emmanuel Sanders down the sideline to put the Broncos back in front.
The Browns rallied again as McCown drove them into the redzone, but the Denver defense held them to a field goal as Travis Coons send his kick through the posts.
Cleveland spurned the chance to win the game when McCown threw his second interception of the game, but Manning came back with an error of his own in overtime as Barkevious Mingo made the pick.
However, the Browns could not capitalise and Manning seized his opportunity to drive the Broncos into field-goal range, and McManus kicked his side to victory to maintain their unbeaten record.