Updated

DENVER (AP) Former Ravens safety Darian Stewart, who followed Gary Kubiak from Baltimore to Denver over the winter, snatched the ball from tight end Crockett Gillmore in the end zone with 28 seconds left to seal a 19-13 win for Peyton Manning and the Broncos on Sunday.

Joe Flacco drove the Ravens to the Denver 16 in the final minute. One play before Stewart's interception, cornerback Brady Roby got a hand in Steve Smith Sr.'s face and a would-be touchdown catch bounded away from the veteran receiver.

Cornerback Jimmy Smith's 24-yard pick-6 was Baltimore's only touchdown and Broncos cornerback Aqib Talib responded with a 51-yard interception return for a TD that put Denver ahead for good 16-13.

Manning was 24 of 40 for 175 yards and a paltry 59.9 passer rating. His four sacks were his most since Oct. 20, 2013.

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