Harrold opened the scoring for the Kings midway through the first period. Dustin Brown nearly made it 2-0 with a shot that rang off the post, then Stastny split two Kings' defenders and beat Ersberg to tie it.
Six minutes later, Hejduk one-timed a pass from Wojtek Wolski to make it 2-1.
With 1:10 left in the period, Cliche was awarded a penalty shot after Colorado defenseman Kyle Cumiskey slashed him on a short-handed breakaway. Cliche tried to beat Anderson low, but the goalie got a right pad on the shot to preserve the lead.
Hensick scored in the third period for the Avalanche.
Lewis scored a late short-handed goal to complete the scoring.
Copyright by STATS LLC and The Associated Press
Arena: Pepsi Center Location: Denver, Colorado
Attendance: 9,642 (53.5% full)
Peter Harrold Assist: Raitis Ivanans, Jack Johnson
Paul Stastny Assist: Wojtek Wolski
Milan Hejduk Assist: Marek Svatos
T.J. Hensick Assist: Kyle Quincey, Chris Stewart
Trevor Lewis (shorthanded) Assist: Brad Richardson