We use Hubble parameter versus redshift data from Stern, et al(2010) and Gazta\~{n}aga, et al (2009) to place constraints on model parameters of constant and time-evolving dark energy cosmological models. These constraints are consistent with (through not as restrictive as) those derived from supernova Type Ia magnitude-redshift data. However, they are more restrictive than those derived from galaxy cluster angular diameter distance, and comparable with those from gamma-ray burst and lookback time data. A joint analysis of the Hubble parameter data with more restrictive baryon acoustic oscillation peak length scale and supernova Type Ia apparent magnitude data favors a spatially-flat cosmological model currently dominated by a time-independent cosmological constant but does not exclude time-varying dark energy.Comment: 7 pages, 9 figures, 2 tables, Accepted for publication in PL

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