Miller finished with five catches for 50 yards.
The next possession, however, illustrated the Steelers Achilles heel on the night as Cutler picked apart the Steelers defense on a 7-play drive that was ended on Elam's 47-yard field goal as time expired.
The Steelers defense struggled to get pressure on Cutler for much of the night as he finished 22-of-29 for 248 yards and a pair of touchdowns. The Broncos were 7-of-10 on third down conversions including a pair of third-and-14 conversions on a third quarter scoring drive to push the Denver lead to 28-14.
Pittsburgh turned the ball over three times in the first half, including a costly fumble that was returned 50-yards for a touchdown by Broncos rookie Tim Crowder.
Roethlisberger finished the game 24-of-35 passing for 290 yards, four touchdowns, and two interceptions.
Willie Parker was the games leading rusher with 93 yards on 21 carries.
Despite the loss, the Steelers still maintain a slim lead in the AFC North standings and will have an important game next Sunday at the Cincinnati Bengals.