The Denver Broncos defeated the Kansas City Chiefs, 31-24, on Thursday Night Football from Arrowhead Stadium.

After a scoreless first quarter, the Chiefs put together a 6-play, 78-yard touchdown drive to strike first. Running back Jamaal Charles capped it off with a 34-yard run for his first rushing touchdown of the season.

On the ensuing possession, the Broncos had third-and-3 from their own 50-yard line. Quarterback Peyton Manning threw an interception to rookie cornerback Marcus Peters, who returned the ball 55 yards for a touchdown. It was the second interception of Peters' career.

The Broncos answered the Chiefs second touchdown on the very next drive. Starting at his own 20-yard line, Manning drove the Denver offense down the field in 10 plays, finishing with a 16-yard touchdown pass to wide receiver Emmanuel Sanders.

The Broncos were afforded to another chance to score after Aqib Talib's interception late in the second quarter. Denver took advantage of the short field, as Manning hit tight end Virgil Green for a 1-yard touchdown reception.

It was tied, 14-14, at the half.

Chiefs kicker Cairo Santos opened scoring in the second half with a 35-yard field in the third quarter, but Broncos kicker Brandon McManus answered with a 54-yard field goal of his own. It was 17-17 through three quarters.

Late in the fourth quarter, the Chiefs drove the ball all the way to down to Denver's 14-yard line, but on third-and-10 from on Denver's 17, Alex Smith was hit as he threw and the Broncos earned their second interception of the game.

But the defense held up. Manning's Broncos went three and out and they punted back to the Chiefs.

After a 29-yard pass to TE Travis Kelce to get the Chiefs into Denver territory, three straight rushing plays to Charles moved Kansas City to Denver's 8-yard line. On second-and-8, RB Knile Davis ran through the Broncos defense for touchdown.

With just more than two minutes to work with, Manning orchestrated a 10-play touchdown drive, hitting Sanders for his second score of his game to tie the game.

With 35 seconds left, the Chiefs rushed with Charles on the first play of the drive and Broncos stripped the ball loose. CB Bradley Roby recovered the ball and ran it back 21 yards for the game-winning touchdown with 35 seconds remaining.