After a missed 52-yard Matt Prater field goal attempt, the Ravens took over on the 42-yard line and took advantage of the short field with a three-play scoring drive.
It started with back-to-back first-down completions to wideout Anquan Boldin and tight end Dennis Pitta.
On the third play of the drive, quarterback Joe Flacco hit wideout Torrey Smith for a 32-yard game-tying touchdown. It is the second time the pair have connected for six.
The score tied the game at 21 with :36 seconds to go in the half.
The Broncos ran out the clock, leading to halftime. Denver will receive to start the second half.