The Broncos signed Prentice from their practice squad to their 53-man roster Saturday, Aric DiLalla of the team's official site reports.
Prentice had been elevated from the practice squad for each of the first three weeks of the campaign, so this move was necessary for the fullback to continue to see action on game days. The 29-year-old has logged most of his work this season on special teams but does have one catch on one target for two yards over 18 offensive snaps.