The Broncos will play the defending Super Bowl champion Ravens without their premier cover corner and their top pass-rusher. Star linebacker Von Miller was suspended the first six games for violating the league's substance-abuse policy.
Bailey sprained his foot two weeks ago and was limited in his attempt to return to practice Tuesday. Ravens quarterback Joe Flacco targeted Bailey twice for long touchdown passes to Torrey Smith in a 38-35 upset of the Broncos in Denver during last season's playoffs.
The 35-year-old Bailey stepped onto the field Tuesday wearing his cleats and helmet but didn't participate in the session. Asked as he made his way out of the locker room if his foot was feeling any better, Bailey responded: "Yeah, yeah. Every day, every day."
Bailey said Monday he was "very close" to being ready but also indicated that his playing status remains "up in the air" because the troublesome foot still sometimes hampers him when he backpedals or runs side to side.
ESPN.com Broncos reporter Jeff Legwold contributed to this report. Information from The Associated Press also was used.