Neither side were able to get on the scoreboard in a tight first quarter, as both defences impressed in the game's early moments.
With less than five minutes to go in the first half the match sprung to life, as Denver running back Ronnie Hillman ran in for the first touchdown of the night, which was successfully converted by Brandon McManus.
The Lions responded well, and with 1:03 remaining in the second quarter running back Joique Bell scored his side's first touchdown of the night. Detroit could not level the scores though, as former Broncos placekicker Matt Prater's conversion attempt was blocked.
Denver added to their lead with just five seconds remaining of the first half, as Manning found Demaryius Thomas for a 45-yard touchdown, which McManus converted for a 14-6 half-time lead.
After the break the Lions reduced the deficit to just two points as Matthew Stafford found Ameer Abdullah for his side's second touchdown. Detroit failed to add the extra points again though, as an attempted two-point conversion was stopped by the Broncos defence.
The Broncos extended their lead with 7:50 remaining in the match, as McManus succeeded with a 48-yard field goal attempt to score the only three-pointer of the match.
Denver wrapped up the victory with 2:28 left to play, as Manning found Owen Daniels for the Broncos' third touchdown, which McManus converted to seal a 24-12 victory.