The linebacker sustained a severe knee injury during pre-season in 2012, preventing him from taking to the field during his rookie year in the NFL.
The 23-year-old told the team's website: "It felt good. It held up pretty solid. I have to look at the film to get a better diagnosis of it and continue to build. But it's exciting, very exciting.
"I feel like I am blessed. I have the opportunity and I am looking forward to it. I thought it was last week [I could practise], but they told me after week six. I jumped the gun but I knew in due time.
"That is going to be the biggest thing. When you are on the field there is no thinking. When you are rehabbing you have certain landmarks, but when it comes down to playing ball, you just have to go play. It's a big step, but I am looking forward to the challenge. I am just happy and blessed I have this opportunity."
Spence, who started this season on the physically unable to perform list, was selected in the third round of last year's Draft.