DENVER -- Cornerback Janoris Jenkins returned an interception 43 yards for a touchdown and New York's defense produced a key goal-line stand in the fourth quarter, leading the previously winless Giants past the Denver Broncos 23-10 on Sunday night.

Eli Manning threw for just 128 yards but had a touchdown pass to rookie tight end Evan Engram and Aldrick Rosas kicked three field goals for the Giants (1-5), who came in as a heavy underdog after being battered by injuries in the last week. They opened the game with seven starting lineup changes, including running back, wide receiver and a revamped offensive line.

The Giants' defense stopped C.J. Anderson for no gain on a fourth-and-goal from the 1-yard line midway through the fourth quarter and exerted tremendous pressure on Denver quarterback Trevor Siemian, who took four sacks, with three by defensive end Jason Pierre-Paul.

Siemian left the game briefly near the end of the second quarter with a left shoulder injury, but returned to open the third. He finished with 376 yards passing, completing 29 of 50, including a 13-yard touchdown pass to tight end Jeff Heuerman with 4:07 remaining. He was intercepted twice as the Broncos fell to 3-2 after coming off their bye week.

The Broncos also lost a key offensive player when wide receiver Emmanuel Sanders was sidelined by an ankle injury in the third quarter.

Up by 14 at the half, the Giants stretched their lead to 20-3 on Rosas' second field goal, a 51-yarder midway through the third quarter. He added a 40-yarder with 27 seconds left to play.

Both teams had subsequent field-goal attempts in the third quarter blocked.

The Giants led 17-3 at halftime, getting a defensive touchdown on top of a surprisingly productive offensive showing despite a siege of injuries that practically wiped out their receiving corps. Odell Beckham Jr., Brandon Marshall and Dwayne Harris all were placed on injured reserve last week after going down with season-ending injuries. In addition, wide receiver Sterling Shepard was among the team's inactive players against Denver because of an ankle injury.

Jenkins stepped in front of wide receiver Bennie Fowler to intercept a Siemian pass, going down the right sideline unopposed and stepping out of the Broncos quarterback's diving attempt to stop him just before crossing the goal line for the score.

Manning drove the Giants to a 25-yard field goal by Rosas on the team's opening possession and later hit Engram with a 5-yard touchdown pass. Running back Orleans Darkwa helped put the Giants in scoring position on the touchdown drive, breaking free on a run up the middle for a 47-yard gain to the Broncos' 13-yard line.

Brandon McManus, who missed wide right with his first field-goal try, a 35-yarder, connected on a 28-yarder with 4:12 remaining in the second quarter for the Broncos.

NOTES: The Giants' injury-riddled receiver corps was not the only area of the team hit hard by injuries. RB Orleans Darkwa started in place of inactive RB Paul Perkins (ribs); C Brett Jones started in place of inactive Weston Richburg (concussion). Defensively, the Giants were without LB Jonathan Casillas (neck) and DE Olivier Vernon (ankle). ... Giants QB Eli Manning played in his 207th game as a Giant, tying Howard Cross for the second-most games in team history. Michael Strahan leads with 216 games in his career with the Giants. ... Broncos CB Chris Harris Jr. played in his 100th career game. ... Broncos RT Menelik Watson left the game in the first half with a calf injury and the team he did not return. ... Giants LB Calvin Munson was ruled out for the remainder of the game after suffering a quad injury in the first half.