Arapahoe County sheriff’s detention chief Louie Perea says Miller was arrested Sunday and then released.
The Broncos released a statement saying they and NFL officials are aware of the allegation that Miller didn’t appear at a court hearing.
The statement says the matter is “being handled through the legal system.”
KMGH-TV in Denver reported that Miller was supposed to go to court on charges of careless driving, driving without a license and no proof of insurance.
Separately, Miller is facing a four-game suspension for violating the NFL’s drug-abuse policy. He has appealed and a hearing is scheduled for Thursday.