Moore hustled from the middle of the field to the sideline to break up a pass intended for Denarius Moore on the first play from scrimmage. The Broncos safety collided with the receiver and landed hard on the ground.
He was attended to by trainers for several minutes before walking off the field under his own power.
The former UCLA standout was selected by Denver with the 45th overall pick in this year's draft.
Information from The Associated Press contributed to this report.