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," the Broncos said in a statement released Friday afternoon. "This matter, which was addressed with the team last week, continues to be thoroughly reviewed internally."
Prater, 27, has been the Broncos' place kicker since 2008, when he replaced mainstay Jason Elam. Prater made 16-of-18 field goal attempts last season, including a 59-yarder in a Week 6 loss to the New York Jets. He converted all three of his field-goal attempts in Denver's 24-23 preseason loss to the Dallas Cowboys on Thursday.
According to arrest reports, via The Denver Post, a woman who said she was a passenger in Prater's car told police she and a man named Matt P. had just left a Denver strip club, where she is employed, and were trying to get a hotel room after the accident. The hotel had no vacancy, so Prater left, the woman said.
Police later found Prater at nearby hotel, where he told officers he "didn't leave a note on the vehicle he hit because there were multiple witnesses confronting and yelling at him."
The Associated Press contributed to this report