Both were hurt in Saturday's 25-17 preseason loss to the Jets.
Dennard was sidelined after appearing on just one play in the game. He jogged on the field to assist on a punt return. After the play was over, he hobbled back to the bench, favoring his hip.
"I was just running and pretty much felt something coming off the field and talked to the trainers and basically, it was just a smart thing to stop [playing]," Dennard said.
He added that he didn't believe the injury was serious. Dennard is hopeful to play Sunday when the Bengals travel to Arizona. Defensive coordinator Paul Guenther said he wasn't sure if Dennard would be healthy in time.
"Hopefully, we'd like to see him playing there early," Guenther said. "But if he can't, then we've got next week to look at him, too."
While the Bengals might be without Dennard this weekend, they still anticipate seeing defensive tackle Geno Atkins for the first time. Guenther said Wednesday afternoon that the Pro Bowl lineman would be making his return to the rotation as his rehab from an ACL tear last season concludes.
It doesn't appear Burkhead will be part of the Bengals' game plan as he continues recovering from an injury that head coach Marvin Lewis on Wednesday called a "sore knee."
Still, Burkhead has made some progress. After sporting both a long leg brace and a pair of crutches Monday, Burkhead was only wearing the compression style brace that covered his right leg on Wednesday. He was walking around the locker room with it, without any assistance.
"He'll be out of that in a couple of days and be running in the pool soon," Lewis said. "I don't think much is going to hold Rex back very long, but he's going to have to go through the process of getting it right. He obviously plays a position at running back where he's going to have to be able to do what a running back does."
Burkhead was knocked out of last Saturday's game after taking a hard hit when tackled at the end of an early fourth-quarter run.
As the Bengals continue preparations for Sunday's game -- one backup quarterback Jason Campbell and offensive tackle Andre Smith anticipate playing -- the following are injury updates from Wednesday's practice. Cincinnati isn't required this preseason to file a daily injury report like it will in the regular season, so it's tough to determine which players were limited or in full participation. Media are only permitted to view the first 30 minutes of the closed practices. Wednesday's workout was in shells; shoulder pads, helmets and shorts.
Returned to practice
WR Dane Sanzenbacher (undisclosed)
WR James Wright (hip)
DE Dontay Moch (undisclosed)
DE Wallace Gilberry (undisclosed)
OL Mike Pollak (knee)
TE Tyler Eifert (shoulder)
LB Sean Porter (knee)
LB Marquis Flowers (ankle)
LB Vontaze Burfict (stomach bug)
DE David King (undisclosed)
CB Darqueze Dennard (hip)
RB Rex Burkhead (knee)
QB AJ McCarron (shoulder)
QB Tyler Wilson (head)
LB J.K. Schaffer (head)