The PHENIX experiment at the relativistic heavy ion collider (RHIC) has measured transverse energy and charged particle multiplicity at midrapidity in Au+Au collisions at center-of-mass energies √sNN=19.6,130, and 200GeV as a function of centrality. The presented results are compared to measurements from other RHIC experiments and experiments at lower energies. The √sNN dependence of dET/dη and dNch/dη per pair of participants is consistent with logarithmic scaling for the most central events. The centrality dependence of dET/dη and dNch/dη is similar at all measured incident energies. At RHIC energies, the ratio of transverse energy per charged particle was found to be independent of centrality and growing slowly with √sNN. A survey of comparisons between the data and available theoretical models is also presented.