Prater has missed the last two games with a groin injury. Steven Hauschka has filled in, connecting on 5 of 6 field-goal attempts in games at Arizona and Oakland.
In his career with the Broncos, Prater has made 71 of 87 field-goal attempts, the best accuracy rate in team history for anyone with a minimum of 50 attempts.
Known for a booming leg, Prater has made nine field-goal tries of 50 or more yards in his career, including two this season.
The Associated Press contributed to this report.