Veldheer appeared in 13 games for Arizona in 2017 and registered 53 starts in his four seasons with the Cardinals.
The Denver Post's Nicki Jhabvala reported the Broncos plan to use Veldheer as their starting right tackle in 2018. They'll keep 2017 first-round pick Garett Bolles at left tackle.
As long as Veldheer remains healthy, he should be an upgrade over what Denver had with Menelik Watson patrolling the right side of the line.
Veldheer's durability will be a concern for the Broncos, though. An ankle injury landed him on injured reserve after 13 games in 2017, and he was limited to eight games in 2016 after undergoing surgery to repair partially torn triceps.
A sixth-rounder isn't much to give up in order to acquire a tackle with Veldheer's experience, and this move allows the Broncos to give Bolles another season before potentially addressing the offensive line again early in the draft.