The 2016 season was the Denver Broncos' 47th in the National Football League (NFL) and their 57th overall. This was the first season since 2011 that Peyton Manning was not on the opening day roster. It was also their second and last season under head coach Gary Kubiak, as he retired at the end of the season due to health concerns.

The Broncos entered the season as defending champions of Super Bowl 50, after undergoing numerous roster changes as well as an off-season and preseason that was dominated by a quarterback controversy, following the retirement of Peyton Manning. Following a 4–0 start, the team sputtered down the stretch, missing the playoffs for the first time since 2010, as well as having their franchise-record streak of five consecutive playoff appearances and five consecutive AFC West division titles snapped. In addition, the Broncos became the 12th consecutive team to fail to repeat as Super Bowl champions, as well as the first reigning champion to miss the playoffs since the 2013 Baltimore Ravens. In terms of statistics, the Broncos' offense scored more than 30 points only once and ranked 27th in total offense. Head coach Gary Kubiak abruptly resigned at the end of the season citing health reasons but would remain as a consultant for the Broncos before returning to coaching in 2019 as the assistant head coach/offensive coordinator for the Minnesota Vikings, where he spent 2 seasons before retiring from coaching following the 2020 season.

This was the Broncos' last winning season until 2024.

On October 9, shortly after the Broncos' Week 5 loss to the Atlanta Falcons, head coach Gary Kubiak was taken to a Denver-area hospital, after experiencing flu-like symptoms and extreme body fatigue. According to executive vice president/general manager John Elway, Kubiak had been feeling ill prior to the loss to the Falcons, and following a precautionary MRI and CT scan, Kubiak was diagnosed with a "complex migraine." Special teams coordinator Joe DeCamillis served as the team's interim head coach for the team's Week 6 Thursday Night loss at the San Diego Chargers, while Kubiak underwent a doctor-mandated week of rest. This was the second time in three years in which Kubiak experienced a health scare; in November 2013, while serving as the Houston Texans' head coach, Kubiak suffered a mini-stroke after collapsing on the field during a game against the Indianapolis Colts. Concerns over his health ultimately resulted in Kubiak retiring from coaching at the end of the season.

On March 7, two days before the start of the 2016 league year, quarterback Peyton Manning retired after 18 NFL seasons. In his four seasons with the Broncos (2012–2015), Manning threw for 17,112 passing yards and 140 touchdowns, both second in franchise history behind John Elway. Manning also set numerous league records, including single-season passing yardage (5,477) and single-season touchdown passes (55), both of which were achieved in 2013.

Since his retirement, four of Manning's records have been surpassed by either Tom Brady or Drew Brees: combined regular season and postseason wins (200 – surpassed by Brady in 2016), regular season wins (186 – tied with Brett Favre, surpassed by Brady in 2017), regular season passing yardage (surpassed by Brees in 2018) and regular season touchdown passes (surpassed by Brees in 2019 and then again by Brady in 2020).

Manning was also one of two remaining active players who were drafted and had played in the 1990s—the other being fellow 1998 draftee Charles Woodson of the Oakland Raiders. Woodson also retired following the 2015 season, making 2015 the last one to feature players drafted in the 1990s.

All undrafted free agents were signed after the 2016 NFL draft concluded on April 30, unless noted otherwise.