It's a bit complicated because there are actually multiple grids. Most of the city follows the north–south / east–west grid along Broadway, but the Downtown grid is on an angle facing the Platte River.
View Larger MapI will write this up soon, but it's less interesting to me than the Broadway grid.
The information on this website comes from the 1994 book Denver Streets: Names, Numbers, Locations, Logic by Phil Goodstein. Since it is out of print and very expensive if you can find it anywhere, I've spent my own time and money buying the book, getting it scanned, and building/hosting this website.