Miller, the Steelers' 2012 MVP, was among the 46 players who dressed for the Sunday night game against the Chicago Bears at Heinz Field.
Four tight ends were active for the Steelers as they tried to win their first game of the season. Miller was targeted 11 times and had three catches for 35 yards in the team's 40-23 loss.
Miller caught 71 passes for a career-high 816 yards last season before shredding his right knee in the Steelers' next-to-last game.
Running back Le'Veon Bell is at least a week away from returning from a mid-foot sprain even though he had been listed as questionable for the Bears game after the Steelers' final practice of the week.
Felix Jones started at running back, getting the nod after the Steelers managed just 75 rushing yards in their first two games.
Jones had seven carries for 34 yards while Jonathan Dwyer led Pittsburgh's anemic ground game with 12 carries for 39 yards.