Anyone relocating to Colorado, surrendering a valid driver's license from another state is not required to take a written test, however a second primary form of identification establishing lawful presence, such as a birth certificate, or immigration document, must be presented along with the driver's license. The license from the other state must not have expired for more than one year. A vision screening test is required. The department has the authority, if there is good cause, to impose restrictions, limitations, or conditions which apply to the licensee's driving ability and any type of special mechanical control device required on a motor vehicle which the licensee may operate. The department may impose other restrictions applicable to the licensee as appropriate to assure the safe operation of a motor vehicle by the licensee.

If you are a Colorado resident who operates a motor vehicle or motorcycle on public streets and highways in Colorado, you must have the appropriate valid driver's license. A resident is defined as a citizen who has lived in Colorado for 90 continuous days; or upon becoming employed, whichever occurs first. If you are not a Colorado resident you can not be issued a Colorado license. Non-residents do not have to register their car in Colorado and may drive using their current, valid driver's license issued by their state or country of residence.

Driver licenses, instructional permits and Colorado identification cards can be obtained at 55 locations throughout the state. To apply for a license, instructional permit or duplicate, you must:

Submit 2 primary forms of identification. One form must establish lawful presence. Please see Identification Requirements for a complete list of acceptable identification documents.

Provide your Social Security Number.
Supply a Colorado residence address.
Pass all required examinations (written, vision and road performance).
Pay the required fee.
Be fingerprinted and photographed.
Adult Driver's Licenses are issued to persons who are at least 21 years of age and must be renewed every five years. Commercial Driver's Licenses must be renewed every four years.

from:
Department of Revenue - Division of Motor Vehicles:Frequently Asked Questions