Police Chief John Jackson said Prater was involved in a minor, non-injury accident in a hotel parking lot on Aug. 2. He said Prater was cooperative, adding: "He was not in any way resistant or argumentative. We cited and released him, like we would do with anybody else."
Prater is scheduled to appear in court Oct. 5.
"Our organization is disappointed with the poor judgment shown by Matt Prater on Aug. 2. This matter, which was addressed with the team last week, continues to be thoroughly reviewed internally," the Broncos said in a statement.
The fifth-year pro from Central Florida was 3-for-3 on field goals in the Broncos' preseason opener Thursday night at Dallas.