Moss, who missed five practices while deciding whether he still wanted to play pro football, didn't speak with reporters after Tuesday's workout.
If he had quit, Moss might have been asked to return $3.6 million of his signing bonus to the Broncos. Now, if he gets cut later this month, he won't owe them anything.
Moss, who has just 3½ sacks in his career, is deep down on the depth chart at outside linebacker in the Broncos' new 3-4 scheme, and he slid even further upon his return because of the arrival of first-round draft pick Robert Ayers.
Ayers worked in some packages with the first team and was impressive at times but often looked lost.
Moss, who met with coach Josh McDaniels in the morning, participated in the entire 2½-hour practice, getting extensive work in individual drills. In the team portion, he was used primarily at outside linebacker with the third string and also took some snaps with the second unit as a down lineman on passing downs.
McDaniels said he saw no hesitation out of Moss, who has struggled to fit into the NFL ever since former Denver coach Mike Shanahan moved up to select him with the 17th overall pick out of Florida in the 2007 draft.
"He went out there and had a good practice today," McDaniels said. "That's what you need to see and that's what he gave us."
McDaniels said he felt the uncertainty that kept Moss away over the weekend was no longer an issue.
"I'm not worried about it at all," McDaniels said.
As for Ayers, "he doesn't know what to do half the time yet," McDaniels said. "He's very physical and has a long way to go, but it's great to have him here. He's got a lot of work to do."
Ayers concurred, saying that while he did some things well on his first day in full pads, he also made plenty of mistakes.
"At times I caught myself not knowing what was going on," he acknowledged.
S Brian Dawkins left the practice field Tuesday afternoon with a trainer by his side. It appeared he might have suffered a hand injury. McDaniels wouldn't reveal anything about the nature of the injury, joking with reporters: "I'm going to be very forthcoming with you guys tomorrow about that." Vernon Fox replaced Dawkins in the No. 1 defense. ... The Broncos signed LB Braxton Kelly, who had been in Denver for some of the Broncos' offseason workouts. He took the roster spot created when LB Nick Greisen (knee) went on IR.