
<PAGE>   1

                                                                   Exhibit 23.16

                        CONSENT OF INDEPENDENT AUDITORS

The Board of Directors
Tele-Communications, Inc.:

We consent to the inclusion in the registration statement on Form S-1 of Charter
Communications, Inc. of our report, dated June 21, 1999, relating to the
combined balance sheets of the TCI Falcon Systems (as defined in Note 1 to the
combined financial statements) as of September 30, 1998 and December 31, 1997,
and the related combined statements of operations and parent's investment, and
cash flows for the nine-month period ended September 30, 1998 and for each of
the years in the two-year period ended December 31, 1997 included herein and to
the reference to our firm under the heading "Experts" in the registration
statement.

                                          /s/ KPMG LLP

Denver, Colorado
July 22, 1999
