Vance Joseph wasn’t coaching on his terms and Denver’s run defense paid a price.

In his first season back in Denver, the Broncos defensive coordinator thought it was best to do things that were similar to what players did under the previous regime. Joseph’s plan, however, backfired. The Broncos gave up the third-most rushing yards in the league (137.1), the most yards per attempt (5.1) and 56 rushes for 10-plus yards, according to Next Gen Stats.

Their performance against the Dolphins — 726 total yards allowed, including 350 on the ground — left a stain that was hard to wipe away.

In the offseason, Joseph knew a philosophical change was needed. He wanted to steer away from shell coverages and instead encouraged his defensive linemen to play with more aggression. Through eight weeks, that shift has paid off.

Denver has been one of the best run defenses in the NFL, making Sunday’s matchup against the Ravens rushing attack spearheaded by quarterback Lamar Jackson and running back Derrick Henry highly anticipated.

“I truly think, in this day and age in the NFL, if you’re not playing on your terms, you’re losing,” Joseph told The Denver Post. “Last year, we (weren’t) doing that and it didn’t help our team win.”

The Bronco’s success has been more than just a change in mindset. They added reinforcements in the trenches to fit their new approach. They traded for former Jets defensive lineman John Franklin-Myers during the draft and signed run-stopper Malcolm Roach to a two-year deal. Meanwhile, outside linebacker Nik Bonitto spent the offseason improving as a run defender so he could be more than a pass-rush specialist.

Denver tailored the defense to fit the vision of its leader, and the results have been impressive. Through eight games, the Broncos have given up 106.4 rushing yards per game — seventh-best in the NFL — and four yards per carry.

The Broncos have held opponents under 100 rushing yards four times, with each of those efforts resulting in a victory. They had six games with fewer than 100 rushing yards allowed the entire 2023 season.

“We brought in some guys who play an attacking style, which I think, personally, a lot of top defenses play that way,” Allen told The Post. “It’s been a lot of fun. And when you stop the run, go get opportunities to rush the passer.”

Allen has been one of the league leaders in QB pressures (fifth with 38), but he has played the run well, too. He has 17 run stops, according to Pro Football Focus. Edge rusher Jonathon Cooper and inside linebacker Justin Strnad, who replaced Alex Singleton after his season-ending injury, have also played integral roles with 10 run stops apiece.

Now comes the real test for all of that progress: The Baltimore Ravens.

Over the years, Baltimore has had one of the best rushing attacks. Since 2018, the boys in black and purple finished first in rushing yards three times, and they are on track to do the same this year. Jackson has had a major hand in that, collecting 5,579 rushing yards in seven seasons.

“I don’t think anyone runs the ball as good as those guys because of Lamar,” Joseph said. “It’s like (former Falcons quarterback) Michael Vick back in the day…(those) offenses were always top five in rushing because he added 60 yards.”

Jackson has missed the last two days of practice due to a back/knee injury.