Martindale joined McDaniels' staff last season after spending five years in that same role with the Oakland Raiders.
Martindale, 46, who is known as "Wink," hasn't served as a defensive coordinator since 2003 when he was at Western Kentucky University.
Martindale is the Broncos' fifth defensive coordinator in five seasons. He takes over a unit that was vastly improved under Nolan.
Copyright 2010 by The Associated Press