Miller, the second overall pick in the draft, was never all that concerned with the injury, saying it was nothing that a little rest couldn't remedy.
"It wasn't bad at all," Miller said. "The pads were great. It's been a minute since I've put them on -- since the Senior Bowl. It felt good to knock off the cobwebs."
The only thing slowing Miller down was his knowledge of the playbook. He said he was thinking too much, instead of simply reacting like he did during his days at Texas A&M.
"I don't know it as well as I should," Miller said. "But that will come with time. In time, I'll get better."
"We don't need rookies to act like rookies," Bailey said. "We need them to act like pros, and that's exactly what they've been doing the last few days.
"We need guys like that."
Three of the Broncos' own free agents showed up on the sideline for the first time Saturday. Kicker Matt Prater, linebacker Wesley Woodyard and defensive end Ryan McBean signed new deals but can't participate until next week when free agents are allowed to practice.
Later in the day, Hill was released by the team.
All in all, new coach John Fox was satisfied with his team's performance in their first day in full pads.
"I've been very pleased with their attention and efforts," Fox said. "That's all you can ask for."
Information from The Associated Press contributed to this report.