I typically fly out of COS and connect in DEN to my destination. For the times that I do fly in/out of DEN my routine consists of:

-E-470 toll road to West side short term parking. Level 4 preferred-otherwise level 5.
-Enter terminal (door 410/412) and use level 5 kiosks by baggage claim to reprint boarding pass (usually check in online night before).
-Almost never check baggage so bypass counter and head straight for south side TSA. (if main terminal security is outrageous I hike over to A bridge checkpoint)
-Elite security line typically takes between 5-10 mins on average.
-Always use slip-on shoes; have liquids baggie ready; laptop backpack has clam-shell zipper so I don't have to remove computer. Phone and wallet stowed prior to doc check. Ticket + ID in shirt pocket.
-Rollerboard goes in first (handle first) followed by computer backpack followed by 1 tub w/ shoes, baggie and jacket.
-I avoid the lines using nude-o-scopes and hope for x-ray only.
-Train to concourse B (middle cars to avoid crowds) and head to RCC if I have more than 10 mins to wait before boarding.
-Head to gate 5-10 mins prior to boarding begins

For timing, I usually give myself roughly 2 1/2 hours prior to departure:
1h:20m for drive to DIA (t-minus 150 min)
10 min to find parking (t-minus 70)
10 min to enter terminal and reach security (t-minus 60)
15 min for security (t-minus 45)
10 min to reach gate (t-minus 35)
boarding begins 30 mins prior to departure

Over the last 6 years I have found these timings to be remarkably consistent. I follow a similar pattern out of COS but the timings for each step are usually cut in about half. As a general rule-of-thumb, I like to be walking in the airport door about an hour prior to departure.