The two-time Pro Bowl tight end appeared to be doing all of the usual activities with the tight ends during the open portion of practice.
This marks the first time that the 31-year-old has practiced since the Monday prior to the Ravens' second preseason game against the Dallas Cowboys.
Last year, Daniels played in just five games for the Houston Texans and caught 24 passes.
Ravens coach John Harbaugh has repeatedly said that Daniels isn't injured.
“There’s no tear, there’s no pull," Harbaugh said recently. "He has some swelling in his leg with use, and we’re playing it safe right now rather than pounding his legs out. It’s training camp. He’s an older guy, and I’m just following [head trainer] Mark [Smith’s] instructions on it. He feels like he needs some rest still, so that’s what he’s getting. But there’s no injury there.”
Daniels is playing under a one-year contract that includes a nonguaranteed $1 million base salary. He can earn an additional $1 million if he triggers incentive clauses for receptions and playing time.
Running back Bernard Pierce isn't practicing Monday after sustaining a head injury on a high tackle by Washington Redskins safety Brandon Meriweather. Pierce was knocked out of the game and underwent the mandatory NFL concussion testing protocol.
Offensive tackle Jah Reid, who has a concussion, remains sidelined along with cornerbacks Lardarius Webb (lower back) and Asa Jackson (sprained ankle). Jackson is no longer in a walking boot, but still has rehabilitation to do to get ready for the first game.
Nose tackle Terrence Cody (hip surgery) remains on the physically unable to perform list.