After a 46-yard punt by Britton Colquitt, Tampa Bay took over at its own 30-yard line.
On the second play of the drive, quarterback Josh Freeman dropped back and hit wideout Mike Williams deep down the middle of the field for a 40-yard gain to the Denver 23-yard line.
Doug Martin then carried it twice for gains of 7 and 5 yards.
With a first down on the 11-yard line, Freeman found tight end Dallas Clark, who made a sliding catch in the end zone to give Tampa Bay the lead.
Following the extra point, the Buccaneers hold a 10-7 advantage with :14 seconds left in the first quarter.