Driver collided with Broncos safety Brian Dawkins on a touchdown scramble by Aaron Rodgers in the second quarter. Driver was down for several minutes, then left the field with assistance from his teammates. Driver later was taken on a cart to the locker room.
Driver jogged out of the tunnel before the start of the third quarter and caught a touchdown from Rodgers in the fourth quarter.
"I just wanted to play," Driver said. "I felt like if it wasn't something that was broken, I feel like I could still play. Doc decided he wanted to sit me down, but he knows I'm hard-headed. I told him that I was going to play, and he gave me the OK."
The Packers won 49-23.
Information from The Associated Press contributed to this report.