The AFC West side had the worst record in the NFL last season, winning just two of their 16 games.
The team's new head coach told reporters: "We had a chance to move the play, play the game, in other words. Everybody was off to the side of the field, spotting the ball, where it goes, calling the penalties that were the obvious ones. I thought the guys handled it well.
"All in all, a good day at work. We're making progress, a long way to go but we're getting there. We're getting better every day. That's how you'd expect it, early on in camp, you want that defense to be dominant.
"The offense always takes a little bit longer to get going, that's how it normally works. I was proud of the way they handled each other, getting after it, competing."
The Chiefs play their first game of the pre-season against the New Orleans Saints next Friday.