The Lower Cretaceous Burro Canyon Formation in the southwestern Piceance Basin, Colorado, is composed of deposits that represent a braided fluvial system with high net to gross that transitions stratigraphically upward into a low net-to-gross, low-sinuosity, meandering fluvial system. The fluvial deposits are composed of multiple upward-fining, conglomeratic-to-sandstone successions forming bars and bar sets that exhibit inclined heterolithic strata that we have interpreted to have formed by oblique and downstream accretion. We used well-exposed outcrops, detailed measured sections, and unmanned aerial system-based imagery to describe the fluvial architecture of the Late Cretaceous formation using a hierarchical approach. We described the Burro Canyon Formation as comprising sandstone-rich amalgamated channel complexes (ACC) overlain by non- to semiamalgamated channel complexes. The lower interval of the formation is composed of ACC that contain channel-fill elements with cross-stratification and numerous truncated contacts. These stacked channel-fill elements exhibit an apparent width range of 137–1300 ft (40–420 m) and a thickness range of 5–60 ft (1.5–18 m). The upper interval of the Burro Canyon Formation comprises mudstone-prone intervals of the nonamalgamated channel complex with isolated channel-fill elements interbedded with floodplain mudstones that represent a period of relatively high base level. Associate channel fill elements range in apparent width from 200 to 1000 ft (60 to 300 m) and thickness from 20 to 30 ft (6 to 18 m). The characteristics and spatial distribution of architectural elements of the Burro Canyon Formation correspond to one depositional sequence. The erosional basal surface of the formation, as well as lateral changes in thickness and net to gross, suggest that the Burro Canyon Formation within this study area was deposited as an incised valley fill. Fluvial deposits of the Burro Canyon Formation serve as outcrop analogs for subsurface interpretations in similar reservoirs.