We have developed a radiative-convective model of the thermal structure of Titan's atmosphere. The model computes the solar and infrared radiation in a series of spectral intervals with vertical resolution. Sources of opacity in the visible and near infrared include stratospheric haze particles, methane cloud particles, and gaseous methane; sources of opacity in the thermal infrared include the pressure-induced opacity of N2, CH4, and H2, the permitted transitions of C2H2 and C2H6, and particulate opacity. The haze properties are determined with a simple microphysics model. The model contains a minimum of free parameters and we try to determine these by fits to independent data sets. We find that gas and haze opacity alone, with the temperatures fixed by Voyager observations, produces a model that is within a few percent of radiative convective balance everywhere in the atmosphere. In a self-consistent computation of temperatures, we find that our model calculation for the surface temperature is, in general, colder than the observed value by 5-10 degrees K. The presence or absence of methane condensation clouds only slightly alters the results. Good agreement can be obtained by adjusting the parameters in the model. The model parameters in these optimized cases are typically within 15% of the baseline values and within the limits allowed by observations. We conclude that the most important factors controlling Titan's thermal structure are absorption of sunlight by the stratospheric haze and the pressure-induced gas opacity in the infrared. Within the uncertainties of the model, these effects can explain the observed temperature profile. Condensation clouds play a minor role, if any.