The Broncos chose Lichtensteiger in the fourth round (108th overall) of this year's draft from Bowling Green State University. The terms of the deal weren't disclosed.
Lichtensteiger earned All-Mid-American Conference honors during each of his four seasons at Bowling Green. He was a four-year starter for the Falcons, tying the school's career record with 48 starts.
Bell, who was in his third year, rushed for 680 yards on 163 carries - a 4.2 average - with eight touchdowns in 20 games with the Broncos.