Carter played in a career-high 15 games last season and tied for the team lead with a dozen pass breakups. He also scored touchdowns on a fumble return and on an interception return.
Carter signed with the Broncos as a college free agent in 2009. After playing in New England in 2010, he returned to Denver in 2011 and played in three regular season games and two playoff games before his breakout year in 2012.
Last season, he allowed the fewest completions (27) in the NFL among players targeted at least 60 times.
Carter was a 50-game starter at Florida State, but, like fellow Broncos cornerback Chris Harris, went undrafted.