In the wake of the Broncos’ 38-35 double-overtime loss to the Ravens on Saturday, Denver coach John Fox did not renew the contract of defensive backs coach Ron Milus and hired Cory Undlin.

This move was in the works for awhile, as Milus’ coaching style clashed with several players over the past two years.

Undlin, who was the Jacksonville Jaguars’ defensive backs coach under head coach Jack Del Rio from 2010-11 and spent the past season as the Broncos’ quality control defensive assistant, is Denver’s new secondary coach.

“This wasn’t about one play or one game,” Fox said.

“It was about the best fit for our secondary and defense as we moved forward. Cory’s a bright, experienced coach who has learned from some great defensive minds. He’s worked with Jack in the past as his defensive backs coach, and he knows our players very well.”

When Milus’ contract was not renewed, there was natural speculation he was the scapegoat for the Broncos’ allowing a 70-yard touchdown pass by Baltimore’s Joe Flacco with 31 seconds in regulation Saturday that tied the game, 35-35. The Baltimore Ravens went on to win the AFC division round playoff game, 38-35 in the second overtime period.

However the immediate hiring of Undlin indicates the coaching change would have been made even had safety Rahim Moore knocked down the pass.

Undlin, 41, was a Cleveland Browns’ assistant from 2005-08, coaching the secondary in 2007 and 2008. He then joined Del Rio’s staff in Jacksonville in 2009. Del Rio is now the Broncos’ defensive coordinator.

The Broncos surrendered 331 yards passing to Baltimore quarterback Joe Flacco, a total that included touchdown throws of 70, 59 and 32 yards.

It was the first 300-yard passing game allowed by the Broncos’ defense this season. The Broncos held a 35-28 lead in the final minute of the game when Flacco hit wide receiver Jacoby Jones up the right sideline for a 70-yard scoring play to tie the game with 31 seconds remaining in regulation.

After the game, Moore said: “It’s my fault, that’s a play I have to make.”

Milus’ contract had elapsed at seasons end. He was in his second year of his second stint with the Broncos. He was on Mike Shanahan’s staff from 2000-2002.