The defensive end left the field in an ambulance earlier this month with a suspected spinal injury during the AFC West side's pre-season loss to the Seattle Seahawks.
The 23-year-old, who returned to 11-on-11 drills yesterday, told the team's website: "It feels really good. I'm just trying to get my lungs used to running around and playing football again. A week doesn't seem like very much but in the football world it is.
"It's funny how much you really don't like to practice until you can't do it anymore. And then you're just dying to get out there again. That whole time you're just thinking I could have been done for good but now that I'm not I want to get out there bad."
The Broncos face the Baltimore Ravens in the opening game of the 2013 season.