Dumervil, who set a franchise record with 17 sacks last offseason, participated in a full practice Thursday.
"It doesn't appear to be serious," coach John Harbaugh said Friday.
The only other notable player missing Friday was wide receiver Breshad Perriman. He bruised his knee Thursday and is considered day to day. Kamar Aiken replaced Perriman with the first-team offense and dropped a couple of passes.
"He wanted to go today," Harbaugh said of Perriman.
Defensive tackle Timmy Jernigan left practice early because of dehydration. Tight end Dennis Pitta (hip), safety Terrence Brooks (knee) and defensive tackle Casey Walker (knee tendinitis) are on the Physically Unable to Perform list.