The city of Denver's population grew by 10.2 percent between 2000 and 2009, to 610,345, according to U.S. Census Bureau estimates released Tuesday.

It's the bureau's last annual estimate of city population numbers nationwide before it releases actual headcount totals from the 2010 Census. The new figures are for estimated population within city limits, not surrounding metro areas.

The City and County of Denver gained 56,654 people between 2000 and 2009, the Census Bureau estimates. Out of 276 U.S. cities with more than 100,000 people, Denver ranks 109th in its growth rate through the 2000s.

Between 2008 and 2009, Denver was the nation's 18th fastest-growing large city, gaining 17,259 people for a growth rate of 2.9 percent.

Denver is now the nation's 24th-largest city. No. 1 is New York, with 8.392 million residents, followed by Los Angeles (3.832 million) and Chicago (2.851 million).

In Colorado, the decade's fastest-growing city is Thornton, up 42.6 percent to an estimated 117,003 residents in 2009. Thornton's growth rate ranks 18th among the 276 large cities. On the other hand, both Lakewood and Centennial lost residents over the decade.

Here are national growth-rate rankings for Colorado cities over 100,000 residents:

• Thornton ― No. 18, up 42.6 percent to 117,003.

• Aurora ― No. 61, up 17.4 percent to 324,655.

• Fort Collins ― No. 67, up 16.2 percent to 138,736.

• Colorado Springs ― No. 104, up 10.7 percent to 399,827.

• Denver ― No. 109, up 10.2 percent to 610,345.

• Westminster ― No. 128, up 7.8 percent to 108,850.

• Boulder ― No. 144, up 5.9 percent to 100,160.

• Arvada ― No. 148, up 5.7 percent to 108,172.

• Pueblo ― No. 182, up 2.7 percent to 104,877.

• Lakewood ― No. 244, down 1.7 percent to 141,943.

• Centennial ― No. 246, down 1.8 percent to 100,837.

Click here for access to the new Census Bureau estimates.