The PHENIX experiment at RHIC has measured transverse energy and charged particle multiplicity at mid-rapidity in Au+Au collisions at sqrt(s_NN) = 19.6, 130 and 200 GeV as a function of centrality. The presented results are compared to measurements from other RHIC experiments, and experiments at lower energies. The sqrt(s_NN) dependence of dE_T/deta and dN_ch/deta per pair of participants is consistent with logarithmic scaling for the most central events. The centrality dependence of dE_T/deta and dN_ch/deta is similar at all measured incident energies. At RHIC energies the ratio of transverse energy per charged particle was found independent of centrality and growing slowly with sqrt(s_NN). A survey of comparisons between the data and available theoretical models is also presented.