After releasing him at the end of his two-game suspension to open the regular season, the Broncos will bring back the veteran safety, providing additional depth at a position where rookies Justin Simmons and Will Parks handled the reserve work the last two weeks.
To make room for Keo, the Broncos waived nose tackle Kyle Peko.
Keo joined the Broncos last December and provided veteran depth during the Broncos' push to the postseason. He also played a vital role on special teams, serving as a fill-in punt returner and recovering the on-side kickoff that clinched the Broncos' AFC Championship Game win over the New England Patriots.