Defensive end Antonio Smith will participate in the Denver Broncos' training camp after tending to a personal matter that kept him away from the team's offseason workouts this summer.

The Broncos' brass and Smith decided it was best for him to stay away from the team after reports surfaced in late May that prosecutors in Texas were investigating a criminal sexual complaint against Smith.

Smith never was arrested nor were any charges filed in the case.

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In a statement Tuesday, coach Gary Kubiak said: ''We've been in communication with Antonio and the league for the last couple of months. Based on those discussions, it's appropriate for Antonio to be here and compete with the rest of the team as we begin training camp.''

Smith's return comes at an opportune time for the Broncos, who will be without starting defensive end Derek Wolfe for the first four weeks of the season as he serves a drug suspension.

Smith, who had three sacks for the Oakland Raiders last season, signed a one-year, $2 million contract in April shortly after the Raiders released him in a cost-cutting move.

In Denver, he's reunited with Kubiak, defensive coordinator Wade Philips and D-line coach Bill Kollar. Smith excelled under that trio's tutelage while playing for the Houston Texans from 2009 to 2013.