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ENGLEWOOD, Colo. – ** The Broncos agreed to terms on Monday with former linebacker and coach Rick Dennison to be the team's offensive coordinator.

Dennison is a 20-year NFL coaching veteran with 15 years of experience with the Broncos, including three seasons (2006-08) as Denver's offensive coordinator.

A linebacker for the Broncos from 1982-90, Dennison began his coaching tenure with the club in 1995 and held various roles with the team, including offensive assistant (1995-96), special teams coordinator (1997-2000) and offensive line coach (2001-05, '09) in addition to his three years as offensive coordinator.

Dennison spent four years (2010-13) as Head Coach Gary Kubiak's offensive coordinator in Houston before being hired in Baltimore last season to coach the team's quarterbacks.

Ravens quarterback Joe Flacco established career highs in passing yards (3,986) and touchdown passes (27) in his lone season under Dennison's guidance in 2014 while being sacked just 19 times—29 fewer than the previous season.

During his four seasons as offensive coordinator in Houston, Dennison oversaw one of the league's most balanced offenses. The Texans ranked eighth in the NFL in total offense (369.5 ypg) from 2010-13, including sixth in rushing (130.6 ypg) and 13th in passing (239.0 ypg).

The Texans produced a league-high 29 individual 100-yard rushing performances during Dennison's four years in Houston, including 24 such performances by running back Arian Foster, who was named an All-Pro selection by the Associated Press three times in that span (first team – 2010, '12; second team – 2011).

Houston's 2012 offense, which finished with a franchise-best 12-4 record and advanced to the AFC Divisional Playoffs, sent seven of its 11 starters to the Pro Bowl and featured an eighth—fullback James Casey—who was named an alternate.

Dennison's first stint as an NFL offensive coordinator came with the Broncos from 2006-08 after Kubiak left Denver to become head coach of the Texans. During that period, Dennison's offense ranked seventh in the NFL (350.5 ypg) while producing an AFC-best 395.8 yards per game during the 2008 season.

He coached Denver's offensive line from 2001-05 and again in 2009 in addition to instructing the club's special teams from 1997-2000. Dennison was part of the Broncos' back-to-back Super Bowl wins following the 1997 and '98 seasons.

Dennison began his NFL coaching career with Denver as an offensive assistant from 1995-96 after three years as an assistant coach at Suffield (Conn.) Academy.

During his nine-year playing career with the Broncos, Dennison appeared in 128 games (52 starts) and totaled 514 tackles (316 solo), 6.5 sacks (36 yds.), four interceptions (45 yds.), 10 passes defensed, six forced fumbles and three fumble recoveries.

Dennison joined the Broncos as a college free agent from Colorado State University, where he was named a second-team All-American as a senior. He earned a bachelor's degree in civil engineering from CSU in 1979 followed by a master's degree in the same field from the school in 1982.

A graduate of Rocky Mountain High School in Fort Collins, Colo., Dennison was born on June 22, 1958, in Kalispell, Mont.