The Baltimore Ravens lost their third consecutive game in the NFL, but still secured their place in the post-season.
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Eric Decker led the Broncos charge, receiving for 133 yards and scoring a touchdown.
Dennis Pitta received two touchdowns in the fourth quarter to reduce the deficit, but the Broncos' lead was too great.
Despite losing 34-17, Baltimore are guaranteed at least a wildcard in to the playoffs, but are yet to secure the AFC North title.
The Broncos, who won their ninth game in a row, move up to second in the AFC conference.