Colorado (12-4-9, 45 points) is 5-0-6 during its current run and has played to a draw in each of its past four games.
Toronto (4-15-7, 19 points) is unbeaten in three straight matches after a six-game losing streak.
Colorado placed just one of 10 shots on target. Toronto put two of eight on target.
The Rapids held the advantage in possession in a first half that saw minimal opportunities on the attack for either side, getting nearly 60 percent of the touches and attempting five shots but only one reaching the target.
In the 12th minute, a header from Colorado's Michael Barrios from the left of the box landed on top of the net.
In the 19th minute, Lalas Abubakar's header from the box bounced right into Toronto goalkeeper Alex Bono's hands. Six minutes later, Toronto defender Kemar Lawrence denied Barrios of a quality chance when he got his leg on Mark-Anthony Kaye's pass attempt to direct the ball wide of the net.
Toronto's Patrick Mullins had one of his team's few chances in the 28th minute from the right side of the box but his shot went through the box past the far post.
Esteves had another chance on a free kick in the 44th minute but the attempt sailed over the net.
Lawrence tried to get Toronto on the board when he drove down the left flank in the 49th minute but his centering pass was denied by the quick leg of Abubakar.
Colorado defender Keegan Rosenberry, on the right side of the box, tried to set up Jack Price at the goal area for the opening tally in the 53rd minute but couldn't connect as the pass was too far in front of the central midfielder.
In the 77th minute, Rapids forward Dominique Badji found an open seam in the box but couldn't hit the target, the ball rolling wide of the left post.