Manning suffered the injury, which is thought to be minor, during his side's 39-33 defeat to the Indianapolis Colts on Sunday, a match that saw him sacked four times on the way to the Broncos' first defeat of the season.
The 37-year-old had never missed a practice session at the Broncos before today, and insists that he didn't sit out without kicking up a fuss.
"It was [head trainer Steve Antonopulos's] call, I didn't go down without a fight, I assure you. I look forward, hopefully, being out there [Thursday]," Manning told reporters.
"I plan on being out there. I'm going to start there."
The Broncos will look to get back to winning ways when they take on the 2-4 Washington Redskins on Sunday.