The Chiefs said in a statement Saturday that Sheffield has movement in all his extremities.
He was hurt Friday night when his helmet made contact with Mike Bell's helmet as he took down the Eagles running back near the Chiefs' sideline.
Trainers and coaches tended to Sheffield for several minutes before securing his body and lifting him into a cart. Sheffield was conscious and talking to team officials as he was removed.
He was drafted in the fifth round out of Troy and is competing for a job as a backup.
It's the second straight week the Chiefs have had a player removed on a cart. Last week it was cornerback Maurice Leggett, whose injuries are said not to be career-threatening.
Information from The Associated Press contributed to this story.