On July 20, 2015, the Rockets traded Johnson, Joey Dorsey, Kostas Papanikolaou, Pablo Prigioni, a 2016 first-round draft pick, and cash considerations to the Denver Nuggets in exchange for Ty Lawson and a 2017 second-round draft pick. On October 24, 2015, he was waived by the Nuggets after appearing in six preseason games.