Elam, a 2013 first-round pick, practiced for the first time Tuesday. He is eligible to play in the Nov. 10 game against the Cleveland Browns, which will help Baltimore's depth at safety. Elam underwent arthroscopic surgery for a chip in his knee in late August.
Elam, who is making $1.3 million in the final year of his rookie contract, has struggled with inconsistent play and injuries throughout his career in Baltimore. He hasn't played in a game since his dismal performance in the AFC Divisional playoff game at New England in January 2015.
Last year, Elam looked like he was turning the corner before a torn biceps in training camp placed him on IR. The Ravens chose not to use the designated-to-return slot on him last year.
In August, he again was making major strides and was playing his best football in recent memory. But a knee injury landed him on IR for a second straight year.