Terms of the deal were not announced by the Broncos, who also waived receiver Marlon Brown with an injury designation.
Carlson played guard, tackle and center at Colorado State before signing with Tennessee as an undrafted free agent in May. The rookie was waived two months later by the Titans and joins a Denver squad that has been besieged by injury.
Ty Sambrailo hyperextended his right elbow and sat out Wednesday’s practice while Max Garcia returned to practice Thursday after having rolled his ankle earlier in the week. Veteran Russell Okung is working his way back to the field as he deals with a shoulder injury.
Brown, who signed with the Broncos just prior to training camp, exited Sunday’s practice with a back issue.