Sensabaugh did not practice this week, but was cleared to play after a workout hours before kickoff at Cowboys Stadium.
The Cowboys played without three starters: Fullback Tony Fiammetta (undetermined illness), wide receiver Miles Austin (hamstring) and cornerback Mike Jenkins (hamstring). Backup quarterback Jon Kitna (back) was also inactive.
Sensabaugh, who wore a protective boot all week after injuring his foot during last week's overtime win over the Washington Redskins, ranks second on the Cowboys with 56 tackles and third with two interceptions.
With Sensabaugh playing, defensive coordinator Rob Ryan can continue to use reserve safety Barry Church as a linebacker in some passing-down packages. Church would have replaced Sensabaugh in the starting lineup.
Dolphins defensive tackle Igor Olshansky, who played the past two seasons in Dallas, missed the game with a calf injury.
Tim MacMahon covers the Cowboys for ESPNDallas.com. Information from The Associated Press contributed to this report.