Denver was born in Northern California and graduated college in 1996 from Syracuse University with a Bachelor of Arts degree. He graduated from University of San Diego with a Master’s Degree in Global Business Leadership.

In 1999, Denver completed his training as a SEAL. He then began a 13-year career in the US military. In 2006, Denver was officer in charge of BRAVO Platoon of SEAL Team Three in Iraq’s Al Anbar Province in one of the most combat-heavy deployments of any regular SEAL team since Vietnam. He conducted over 190 sniper missions. In 2009, he became First Phase Officer of BUD/S, then rose to Basic Training Officer.

In 2012, Denver starred in the war film Act of Valor. In September 2014, he guest starred on the last two episodes of season four of MeatEater. In 2016, Denver was on the 2016 American reality series, American Grit, as one of the team Leaders.

On February 19, 2013, Denver had his book, Damn Few: Making the Modern SEAL Warrior, published. On April 5, 2016, Denver with Ellis Henican had another book, Worth Dying For: A Navy Seal's Call to a Nation, published.

In December 2014, Denver was the keynote speaker for the US Lacrosse Convention.